Synchronized 2D SLAM and 3D Mapping Based on Three Wheels Omni-directional Mobile Robot

Sibo Huang, Chong Li, Zhaoquan Cai, Guijie Zhu, Li Yao, Zhun Fan

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1177-1181
Number of pages5
ISBN (Electronic)9781728107691
DOIs
Publication statusPublished - Jul 2019
Externally publishedYes
Event9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019 - Suzhou, China
Duration: 29 Jul 20192 Aug 2019

Publication series

Name9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019

Conference

Conference9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Country/TerritoryChina
CitySuzhou
Period29/07/192/08/19

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