3D Map Building Of Mobile Robot Based On Contour Method

Mobile robot is one of the high-tech products, which bring together information technology, communication technology, sensor technology and microelectronics technology. In order to ensure mobile robot work efficiently and reliably in a complex environment, the environment map must be created at first. With the development of three-dimensional measurement technology, using three-dimensional space information to create the environment has become a trend. Therefore, based on mobile robot making three-dimensional map as the research object, this paper makes an analysis about the creating method, date acquisition, data preprocessing, feature extraction and image matching in order to become the theoretical bedding of the follow-up study about localization and navigation.In this paper, many efforts are made and some results are achieved as follows:1. Together with the present situation and theoretical basis of the 3D map, and in order to improve the real-time and robustness, in this paper, the contour method is took up.2. The point cloud data collection methods and point cloud coordinate transformation formula are further studied, and a 8-neighborhood way of 3D map building is adopted to remove the noise.3. The methods and procedures of feature extraction, including the boundary feature extraction and reverse engineering, have had extensive discussions. In this paper, the way of data preprocessing of the contour method has been showed. Meanwhile through the joint of the linear and the least squares, the feature point, the feature line and the feature surface have been constructed quickly.4. The ICP algorithm and the improved algorithm have been selected for the image matching. Finally through the data analysis, the full 3D model is built.