Design of an indoor map construction and target detection technology platform based on ROS

摘要

In recent years, a variety of intelligent home robot devices have emerged on the market. According to the analysis of the functional requirements of intelligent home robot system and combining with the actual situation, this paper designs an application experiment platform combined visual localization and map building (SLAM) technology, target recognition technology and movement control technology. The platform uses the ROS operating system to implement the overall algorithm and function. The STM32F4 is used to control the movement of the vehicle body, and the Raspberry Pi 4B is used to process the visual information collected by the Intel RealSense D435 depth camera, so as to complete the construction of the indoor map and the detection of the specified target, and complete the follow-up tasks.