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VISUAL ASSISTED DISTANCE-BASED SLAM METHOD AND MOBILE ROBOT USING THE SAME
VISUAL ASSISTED DISTANCE-BASED SLAM METHOD AND MOBILE ROBOT USING THE SAME
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机译：基于视觉辅助距离的SLAM方法和使用相同方法的移动机器人
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摘要
The present disclosure provides a visual assisted distance-based SLAM method for a mobile robot, and a mobile robot using the same. The method includes: obtaining distance data frames and visual data frames, each of the visual data frames corresponds to one of the distance data frames, performing a loop closure detection based on a current visual data frame in the visual data frames to find a matched visual data frame; calculating a relative pose between the current visual data frame and the matched visual data frame; and performing a loop closure optimization on pose data of one or more frames between the current visual data frame and the matched visual data frame based on the relative pose. In the above-mentioned manner, the present disclosure can improve the accuracy of mapping and/or realizing fast relocalization.
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