TY - GEN
T1 - Synchronized 2D SLAM and 3D Mapping Based on Three Wheels Omni-directional Mobile Robot
AU - Huang, Sibo
AU - Li, Chong
AU - Cai, Zhaoquan
AU - Zhu, Guijie
AU - Yao, Li
AU - Fan, Zhun
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - In this paper, we design a three wheels Omni-directional mobile robot (TOMR) and propose a method of simultaneous construction of 2D and 3D maps based on the mobile robot. To be more specific, we use information from a laser and a kinect to build 2D grid maps and 3D environment, respectively. The particle filter algorithm is used to achieve the pose of the robot, together with the OctoMap which is generated from a 3D point cloud map, to construct the 2D and 3D maps. An asymmetric environment is employed to test our proposed method and some state-of-the-art methods like RGB-D SLAM and ORB-SLAM. The experimental results show that the proposed method is efficient for synchronized 2D and 3D mapping and has better performance than other compared algorithms.
AB - In this paper, we design a three wheels Omni-directional mobile robot (TOMR) and propose a method of simultaneous construction of 2D and 3D maps based on the mobile robot. To be more specific, we use information from a laser and a kinect to build 2D grid maps and 3D environment, respectively. The particle filter algorithm is used to achieve the pose of the robot, together with the OctoMap which is generated from a 3D point cloud map, to construct the 2D and 3D maps. An asymmetric environment is employed to test our proposed method and some state-of-the-art methods like RGB-D SLAM and ORB-SLAM. The experimental results show that the proposed method is efficient for synchronized 2D and 3D mapping and has better performance than other compared algorithms.
UR - http://www.scopus.com/inward/record.url?scp=85084316387&partnerID=8YFLogxK
U2 - 10.1109/CYBER46603.2019.9066733
DO - 10.1109/CYBER46603.2019.9066733
M3 - Conference Proceeding
AN - SCOPUS:85084316387
T3 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
SP - 1177
EP - 1181
BT - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Y2 - 29 July 2019 through 2 August 2019
ER -