Simultaneous localization and mapping based on RGB-D images with filter processing and pose optimization

doi:10.3969/j.issn.0253-2778.2017.08.005

Abstract

Abstract: RGB-D camera can capture color and depth images simultaneously, and is widely used for simultaneous localization and mapping (SLAM) research. In this article, The RGB-D SLAM method was improved from two aspects. Firstly, the point cloud filter method was improved to more effectively decrease the noise and redundancy of RGB-D camera data; secondly, an ICP algorithm was used to improve the estimated accuracy of the pose transformation matrix and the trajectories of camera movement. The proposed RGB-D SLAM method was verified on public datasets. The experimental results demonstrate that our RGB-D SLAM method can effectively improve the accuracy of the autonomous positioning and mapping of robots.

Key words: RGB-D camera, RGB-D SLAM, ICP algorithm, filter, transformation matrix

CLC Number:

TP391

XIONG Junlin, WANG Chan. Simultaneous localization and mapping based on RGB-D images with filter processing and pose optimization[J]. Journal of University of Science and Technology of China, 2017, 47(8): 665-673.

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