实时更新的全局一致三维栅格建图

doi:10.16451/j.cnki.issn1003-6059.201901006

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Abstract

A real time globally consistent three-dimensional(3D) grid mapping method is usually required for autonomous navigation of mobile robots in complex unknown 3D environments. Grid maps built by the existing simultaneous localization and mapping(SLAM) system are inconsistent with environments due to the lack of updating strategy. In this paper, information of environment provided by SLAM module are processed by the grid mapping module. A real-time updating strategy and an efficient data structure based on keyframe are proposed to produce globally consistent 3D maps and they are suitable for real time navigation of robots. Experimental results in dynamic indoor scenarios demonstrate that the 3D mapping method can update map in real time and build globally consistent 3D grid map to support the autonomous navigation.

Received: 07 September 2018

ZTFLH:

TP 399

Fund:

Supported by National Natural Science Foundation of China(No.91648204,61803375), National Key Research and Development Program of China(No.2017YFB1001900,2017YFB1301104), National Science and Technology Major Project

Corresponding Authors: YANG Shaowu, Ph.D., assistant professor. His research interests include SLAM, environment modeling, spatial database and geospatial information.

About author:: YI Xiaodong, Ph.D., professor. His research interests include operating systems and robotics software.YANG Sining, master student. Her research interests include visual SLAM, environment modeling and geospatial information.

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	YI Xiaodong
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Cite this article:

YI Xiaodong,YANG Sining,YANG Shaowu. Real-Time Updatable Globally Consistent 3D Grid Mapping[J]. , 2019, 32(1): 43-50.

URL:

http://manu46.magtech.com.cn/Jweb_prai/EN/10.16451/j.cnki.issn1003-6059.201901006 OR http://manu46.magtech.com.cn/Jweb_prai/EN/Y2019/V32/I1/43

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