• Laser & Optoelectronics Progress
  • Vol. 60, Issue 12, 1228003 (2023)
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, China
  • 2Key Laboratory of Intelligent Manufacturing Technology for Advanced Equipment in Yunnan Province, Kunming 650500, Yunnan, China
  • 3Yunnan Advanced Equipment Intelligent Maintenance Engineering Research Center, Kunming 650500, Yunnan, China
  • show less
    DOI: 10.3788/LOP221447 Cite this Article Set citation alerts
    Quanfeng Li, Haibo Wu, Jiang Chen, Yixiao Zhang. Gmapping Mapping Based on Lidar and RGB-D Camera Fusion[J]. Laser & Optoelectronics Progress, 2023, 60(12): 1228003 Copy Citation Text show less
    References

    [1] Liu H M, Zhang G F, Bao H J. A survey of monocular simultaneous localization and mapping[J]. Journal of Computer-Aided Design & Computer Graphics, 28, 855-868(2016).

    [2] Wang J K, Jia X. Survey of SLAM with camera-laser fusion sensor[J]. Journal of Liaoning University of Technology (Natural Science Edition), 40, 356-361(2020).

    [3] Bailey T, Durrant-Whyte H. Simultaneous localization and mapping (SLAM): part II[J]. IEEE Robotics & Automation Magazine, 13, 108-117(2006).

    [4] Durrant-Whyte H, Bailey T. Simultaneous localization and mapping: part I[J]. IEEE Robotics & Automation Magazine, 13, 99-110(2006).

    [5] Grisetti G, Stachniss C, Burgard W. Improved techniques for grid mapping with Rao-blackwellized particle filters[J]. IEEE Transactions on Robotics, 23, 34-46(2007).

    [6] Hess W, Kohler D, Rapp H et al. Real-time loop closure in 2D LIDAR SLAM[C], 1271-1278(2016).

    [7] Endres F, Hess J, Engelhard N et al. An evaluation of the RGB-D SLAM system[C], 1691-1696(2012).

    [8] Mur-Artal R, Montiel J M M, Tardós J D. ORB-SLAM: a versatile and accurate monocular SLAM system[J]. IEEE Transactions on Robotics, 31, 1147-1163(2015).

    [9] Chen W Y, Zhang W, Hu Z et al. An indoor mobile robot mapping and navigation method integrating depth camera and lidar[J]. Intelligent Computer and Applications, 11, 159-163(2021).

    [10] Xu Y L, Ou Y S, Xu T T. SLAM of robot based on the fusion of vision and LIDAR[C], 121-126(2018).

    [11] Zhang H, Xu W H, Zhang Y. Research on SLAM technology of lidar and depth camera fusion[J]. Mechanical Engineer, 22-24, 29(2020).

    [12] Yan X B, Peng D G, Qi E J. Research on ground-plane-based monocular aided LiDAR SLAM[J]. Acta Optica Sinica, 40, 2428002(2020).

    [13] Bai C Y, Wang J J, Cheng X X et al. Spatial positioning optimization of driverless wheelchair by fusion of laser SLAM[J]. Laser & Optoelectronics Progress, 59, 0228007(2022).

    [14] Shen D, Xu Y H, Li Q et al. Research on laser SLAM algorithm based on sparse pose optimization[J]. Laser & Optoelectronics Progress, 58, 2428003(2021).

    [15] Lu J X, Fang Z J, Chen J Y et al. RGB-D visual odometry combined with points and lines[J]. Acta Optica Sinica, 41, 0415001(2021).

    [16] Hu S X, Chen C P, Zhang A W. Application of SLAM in vehicle-borne mobile mapping system[J]. Chinese Journal of Lasers, 39, 1108012(2012).

    [17] Yin H, Li H B, Wang L L. Research on mobile robot localization based on multi-sensor fusion[J]. Machine Tool & Hydraulics, 49, 6-10(2021).

    [18] Kassir A, Peynot T. Reliable automatic camera-laser calibration[C](2010).

    [19] Censi A. An ICP variant using a point-to-line metric[C], 19-25(2008).

    [20] Arun K S, Huang T S, Blostein S D. Least-squares fitting of two 3-D point sets[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 9, 698-700(1987).

    [21] Jiang Z P, Mei T C. A single-line laser odometer based on PL-ICP and NDT point-cloud matching[J]. Laser Journal, 41, 21-24(2020).

    [22] Zhao W L, Gao J Y, He T. Research on autonomous AGV location based on multi sensor fusion[J]. Modern Manufacturing Engineering, 85-90, 113(2021).

    [23] Zhou T K, Jiang J L, Wang Y Z. Indoor robot positioning method by combining visual odometer and physical odometer[P].

    Quanfeng Li, Haibo Wu, Jiang Chen, Yixiao Zhang. Gmapping Mapping Based on Lidar and RGB-D Camera Fusion[J]. Laser & Optoelectronics Progress, 2023, 60(12): 1228003
    Download Citation