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Study on Increased Fusion Map Based on RGB-D Sensor

机译：基于RGB-D传感器的融合图增加研究

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摘要

In order to realize the fast, accurate and steady maps created in unknown environment, a new method for the creation of improved fusion map with topological and metric map based on RGB-D sensor is presented. As combining with topological map, local metric map and global metric map, the method maintain the connectivity and support fusion map in the global environment by utilizing the computing power of topological maps. Meanwhile, the irregular obstacles in the environment are described in detail from the ability of metric maps. Finally, the experiment showed the fusion map was established successfully from topological and metric map, which could describe the contour details under the premise of ensuring the computational capacity of the algorithm.
机译：为了实现在未知环境中创建的快速，准确和稳定的地图，提出了一种基于RGB-D传感器的拓扑和公制地图创建改进的融合图的新方法。与拓扑图，本地度量映射和全局公制地图相结合，该方法通过利用拓扑图的计算能力，维护全局环境中的连接和支持融合图。同时，从公制地图的能力详细描述了环境中的不规则障碍物。最后，实验显示了融合图成功从拓扑和公制地图建立，这可以描述在确保算法计算能力的前提下的轮廓细节。

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