Diseño e implementación de un sistema de visión artificial usando una técnica de mapeo y localización simultánea (SLAM) sobre una plataforma robótica móvil

摘要

The SLAM is one of the algorithms that were born with the intention of being able to position therobot in an unknown environment while navigating through it and using the above information fromits sensors to build a map of the environment in which it is located. . To achieve the mapping, severalinvestigations have used sensors of ultrasound type, LIDAR, even cameras using artificial vision. Theobjective of this research is focused on applying a SLAM technique on a mobile robotic platform. Toachieve this objective, a study is made of different existing SLAM methodologies that could meet theexpectations resulting in the LSD-SLAM, which with a suitable camera is able to obtain a semi-dense3D map of the environment in which it works. It also develops in ROS (Robot Operating System) definedas operating system, which should be taken into account for future research thanks to its great features.Once researched, selected and implemented, the programming of the system was started by means oftools and libraries which have support, in terms of reliable documentation and previously programmedfor their use.Keywords: Laptop, cooling, HUB-USB, Master Cooler.