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论文类型：期刊论文

发表时间：2022-06-29

发表刊物：华中科技大学学报 自然科学版

期号：z1

页面范围：337-340

ISSN号：1671-4512

摘要：The aim of this paper is to investigate the 3D (three dimensional)environment reconstruc-tion for mobile robot without using GPS (global positioning system).Based on the real-time pose esti-mation by using the stereo,we used an inlier selection approach developed from the max-clique to im-prove the performance of RANSAC,then computed the 3D pose with a robust pose estimation algo-rithm.A 3D laser system to achieve an indoor 3D point cloud data collection was designed and devel-oped.The multi-view point cloud was further merged based on the reliable pose information obtained from the visual odometer,which is able to provide an effective large scale 3D environment reconstruc-tion map.The proposed approach was simulated and tested on the SmartROB platform in indoor rooms,corridors and halls.The results has represented and verified the effectiveness and practicabili-ty of the approach.

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