Research on SLAM of Large-scale Space Point Cloud Topological Robot
Changzhong Wu, Fan Ge, Guangchao Shang, Liang Wu, Hengshuai Guo, Mingpeng Zhao, Guitao Wang · Journal of Physics Conference Series · 2021
Abstract This paper focuses on the cutting-edge and difficult issues in the field of navigation and positioning of service robots. By exploring the technical approach to practical service robot environment modeling and positioning, a new topology SLAM method is proposed. This paper focus on the key technologies involved in 3D SLAM of robots based on large-scale spatial point clouds, including back-end optimization and closed-loop, high-precision sensor calibration technology. Further propose topological map construction strategies, and focus on designing map-generating algorithms based on graphs or tree structures. The research results will provide innovative ideas and practical solutions for environmental modeling and navigation control of service robots, and strongly support technological advances in related research fields based on three-dimensional environmental perception.