ROS Based 3D Mapping of an Indoor Environment Using Fusion of Orbbec Astra Camera and Lidar on Turtlebot Mobile Robot

Basavanna, M.; Shivakumar, M.; Prakash, Krishna; Bhomkar, Pratham

doi:10.1109/iceeccot52851.2021.9708058

Cited by 5 publications

(1 citation statement)

References 12 publications

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“…WM (working memory) module in the figure represents working memory, which can store global map nodes, and STM (short-term memory) module receives sensor information for processing to provide services for other modules, which can store local map nodes. The map output by the RTAB-MAP algorithm has three formats: OctoMap (3D Occupancy Grid) [11] , Point Cloud, and 2D Occupancy Grid. 2D Grid map can represent the obstacle information in the environment and has the advantages of smaller storage space, ease of expansion, and fast map building, so this paper uses a 2D Occupancy Grid is used as the output map.…”

Section: Table 1 Comparison Of the Input And Output Of Several Popula...mentioning

confidence: 99%

A Mobile Robot Mapping Method Integrating Lidar and Depth Camera

Jia

Zhao

2022

J. Phys.: Conf. Ser.

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For mobile robots in uncertain and complex environments, a single sensor obtains a single set of environmental information, creates maps with low accuracy, is easily disturbed by external factors, and easily collides with obstacles in the navigation process. In this paper, we propose a depth camera and LiDAR fusion map building method, which firstly collects data using the LiDAR and depth camera on board the mobile robot, and then preprocesses the collected radar data and depth data and builds a 2D local environment map using RTAB-MAP algorithm. Finally, the local maps are fused using a voxel filter to stitch together a complete global map to complete the map construction. Experimental validation on a ROS-based mobile robot platform shows that the map built using multi-sensor fusion is more complete, presenting more comprehensive environmental information and laying the foundation for subsequent navigation.

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Section: Table 1 Comparison Of the Input And Output Of Several Popula...mentioning

confidence: 99%