Stereo Navigation Technology Based On Point Cloud Fusion

With the application of mobile robot is more and more extensive,navigation technology has become the key technology of mobile robot intelligence.The research object of this paper is the special robot working in the complex and harsh environment.There are two problems in this kind of robot: The first is the problem of autonomous navigation and localization of the robot in the complex environment,and the two is the real-time and fast reflection of the three-dimensional information of the surrounding environment.The traditional method of robot navigation is good,the precision is high,but the laser equipment is expensive,and this method can only get the plane information of the environment,it is difficult to meet the needs of special robots.Therefore,how to improve the navigation strategy to improve the robot's ability to perceive the environment,so that the robot has a special task to achieve accurate autonomous task,has become a hot research.In this paper,based on the mobile robot,a kind of combined navigation strategy and method is proposed.In the following three aspects of the research work:First of all,aiming at the problem of robot localization and navigation in limited resource environment,this paper proposes a navigation strategy based on EKF-SLAM algorithm and A* algorithm.A planar navigation system based on HOKUYO laser radar is built.Experiments show that this method has high navigation speed and accuracy,and can realize the autonomous localization and navigation of mobile robot.Secondly,in order to solve the problem of fast image matching and sparse point cloud generation in the process of robot moving.Based on the analysis of the traditional algorithm for motion recovery,this paper presents a fast algorithm for semi dense point cloud generation.The experimental results show that this method is faster and more accurate in the same environment.And through the camera calibration and map information analysis can get the robot trajectory and pose.Finally,aiming at the problem of the accuracy and real-time of the 3D navigation,this paper presents a method of integrated navigation based on laser radar,which combines the environment 2D and 3D information.The experiment was carried out in a complex environment by building a laser radar and vision integrated navigation system platform.Experiments show that this method has high efficiency and low cost.After the final analysis,the research work of this paper has great reference value and application value for the research of special operation robot.