A kinectV2-based 2D Indoor SLAM Method

摘要

SLAM is the key to realize the autonomous movement of the robot. 2D laser scanner performs well in indoor SLAM. However, with high resolution, wide viewing angle and low cost, kinectV2 has become a new platform for SLAM research. In this paper, we propose a 2D indoor SLAM method to replace 2D laser scanner. The real-time kinectV2 depth image information is obtained and converted into 2D laser data, effectively replacing the 2D laser scanner. The whole experiment is based on the robot operating system (ROS), using Hector SLAM algorithm for 2D SLAM. The results show that the proposed method is a reliable and effective 2D SLAM method, which achieves the expected results.