Research And Implementation Of Indoor Static SLAM Based On Kinect

With the development of computer technology and robot technology,the robot market is developing in the field of home,and the intelligent service of home robot will be one of the directions of the next robot development.For home robots,on the one hand,to better serve the people need to get more information,master the details of the environment information is one of the basic requirements;the other hand,in a strange environment can locate itself and at the same time.The establishment of autonomous map navigation is also a necessary condition for the realization of intelligent services.Therefore,the Simultaneous Localization and Mapping(SLAM)is attracting more and more attention.Compared with the traditional inertial sensor,the visual sensor can obtain more information of the environment,including texture,color,etc.Details,while the method of constructing the method through visual methods can be expressed intuitively in a human perspective.After nearly three decades of research,SLAM has become a robot to achieve a high degree of intelligent one of the key technologies.In this paper,based on the color image and depth image obtained by Kinect sensor,the localization of the robot and the construction of the three-dimensional map are studied.The methods of image feature matching,relative pose estimation,loopback detection and graph optimization are realized.Robot Self-positioning and 3D Reconstruction of Scene.Experimental results verify the feasibility of the RGB-D SLAM system constructed in this paper.It shows that the filtering,matching,pose estimation,loopback detection,visual odometer and global optimization scheme are good and practical.