Environment Detection And Map Building Of Mobile Robot Based On Kinect Sensor

With the development of science and technology, the robot in various fields has a very wide range of application. In the field of robotics, mobile robot is an important branch of robotics, is always the focus of research. Among them, the construction of environmental monitoring and environmental map is the premise and guarantee for the mobile robot to be safe and efficient for other tasks. Based on this, this paper studies the method of environmental detection and map construction of mobile robot based on Kinect sensor, the main research contents are divided into the following aspects.Firstly, research the work of environmental detection and map building at home and abroad. The Kinect sensor and mobile robot are introduced. The working principle of Kinect is introduced, and the camera calibration and depth image and color image matching for Kinect sensor are completed.Secondly, the environment detection of mobile robot based on Kinect sensor is studied. According to the classification of the mobile robot’s work environment information, the information is divided into known target and unknown target. Then, according to the known characteristics of the target by a color threshold segmentation algorithm for detection based on; for unknown target using a subtraction method and contour recognition algorithm based on terrain model to the test.Thirdly, the map building of mobile robot based on Kinect sensor is studied. Aiming at the problem of the error of the depth data detected by the Kinect sensor, the grid map is constructed, through the fusion algorithm to continuously improve the grid confidence, so that the map can better describe the working environment of the robot. First of all, the robot’s working environment is divided into three parts: the free area, the obstacle area, the unknown area. Then, through the analysis of the depth image, extract the information of ground and obstacle information above ground, complete the inspection work and hazard free zone, for reliability analysis of obstacles to detect formation of local uncertainty grid map Finally, based on the improved D-S evidence theory fusion algorithm, the local map obtained by the Kinect process and the formed map are fused, and a new fusion map is obtained.Finally, a mobile robot perception system based on Kinect sensor is established, and the work of environmental detection and map construction is realized by using the above method. The experimental results show that the algorithm is effective, and can meet the requirements of the mobile robot in environmental detection and environment map building.