Quanfeng Li1,2,3, Haibo Wu1,2,3,*, Jiang Chen1,2,3, and Yixiao Zhang1,2,3
Author Affiliations
1Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, Yunnan, China2Key Laboratory of Intelligent Manufacturing Technology for Advanced Equipment in Yunnan Province, Kunming 650500, Yunnan, China3Yunnan Advanced Equipment Intelligent Maintenance Engineering Research Center, Kunming 650500, Yunnan, Chinashow less
Fig. 1. Laser data and camera data in the same coordinate system
Fig. 2. Laser data converted from fusion point cloud
Fig. 3. General block diagram of the proposed method
Fig. 4. Fusion diagram of odometer
Fig. 5. RPLIDAR A1 and Astra Pro camera
Fig. 6. Mobile robot
Fig. 7. Experimental site
Fig. 8. Standard map and grid maps obtained by three methods
| Parameter | Value |
|---|
| Measuring radius /m | 0.15-12 | | Sampling frequency /103 | 8 | | Scanning frequency /Hz | 5.5 | | Angular resolution /（°） | ≤1 | | Scanned area /（°） | 360 | | Accuracy of ranging | actual distance 1% （≤3 m） actual distance 2% （3-5 m） actual distance 2.5% （5-12 m） |
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Table 1. RPLIDAR A1 parameters
| Parameter | Value |
|---|
| Measuring range /m | 0.6-8 | | Resolution of color image | 1280×720@30 frame/s | | Resolution of depth map | 1280×1024@7 frame/s | | Precision | （1-3）mm@1 m | | Colour FOV | H66.1° and V40.2° | | Depth FOV | H58.4° and V45.5° | | Delay time /ms | 30-45 |
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Table 2. Astra Pro camera parameters
| Parameter | Laser | Camera | Laser and camera |
|---|
| Obstacle detection rate /% | 61.28 | 73.45 | 93.31 | | Mapping time /s | 23.3 | 54.6 | 35.7 |
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Table 3. Obstacle detection rate and mapping time
| Parameter | Actual | Laser | Camera | Laser and camera |
|---|
| Line 1 /m | 3.25 | 3.171 | 3.963 | 3.181 | | Line 2 /m | 5.18 | 5.100 | 5.977 | 5.167 | | Line 3 /m | 2.77 | 2.616 | 2.539 | 2.69 | | Angle a /（°） | 90 | 91 | 96 | 91 | | Angle b /（°） | 90 | 88 | 91 | 90 | | Line average absolute error /m | | 0.0279 | 0.1554 | 0.0145 | | Angle average absolute error /（°） | | 1.5 | 3.5 | 0.5 |
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Table 4. Measurement results and error analysis
| Parameter | Actual | Old odometer | Fusion odometer |
|---|
| The first distance /m | 3.130 | 3.127 | 3.132 | | The second distance /m | 2.045 | 2.051 | 2.044 | | The third distance /m | 3.000 | 2.990 | 3.006 | | Absolute error /% | | 0.23 | 0.11 |
|
Table 5. Odometer measurement results
