| The visual based mobile robot simultaneous localization and mapping (vSLAM) problem is the key technique in the autonomous navigation field. It has become an important and hard-solved issue for mobile robots. In this paper, we study and build an integrated vSLAM system. Our purpose is to enable the mobile robot to have the"truly autonomous"map building and navigation ability with the help of visual sensor in an unknown environment. This paper has several important achievements as follows:Firstly, this paper designs a systematic structure of vSLAM for mobile robot. It is based on existing mobile robot simultaneous localization and mapping methods. The structure takes into attention the entire realization process of vSLAM system, and offers as the guide of... |
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