Research And Implementation Of Real-Time3D Reconstruction In Indoor Environments And Robotic Path Finding Algorithm

In recent years,the pledge of movable property in the banking industry has been gradually flourishing,while the storage of movable property has various supervisory problems,resulting in repeated pledge and false pledge.Based on the supervisory concept of “Technical Defense + Manual Defense” of Baosteel Group,a solution of automatic and comprehensive monitoring with wheeled autonomous mobile robots is designed and implemented.This paper has studied and explored two goals with progressive relationship.One is the real-time 3D reconstruction of the indoor environment through the robot,so that the warehouse manager can observe the current situation of the warehouse more directly and conveniently.The second one is to design a kind of adaptable path finding algorithm according to the 3D reconstructed map to meet the demand of different computing time.The main research achievements include:(1)Varieties of common depth cameras are compared in this paper.According to various components of the visual SLAM system,we analyzed advantages and disadvantages of the existing practices one by one.Per the result of the comparison,the technical route of the real-time indoor 3D reconstruction system designed by the paper is obtained.(2)A multi-thread real-time 3D reconstruction system based on PTAM is designed and implemented.The tracking and mapping process is split into two separate threads.Among them,the pose estimation,loop detection and optimization methods are borrowed from the idea of offline 3D reconstruction,based on the model comparison.The system doesn't build the camera trajectory graph.(3)Based on the real-time indoor 3D reconstruction system,a 2D obstacle map is constructed by 3D model.While the common quadtree map storage method is extended,and a scalable obstacle map based on quadtree is designed and implemented.(4)With the flexible quadtree map,an adaptive routing algorithm FlexNav is implemented.This paper tests and validates the paper design work by simulating the experimental scene and the actual tunnel scene in warehouses,and verifies the practicability and validity of the real-time 3D reconstructing system by eight sets of experiments.And six benchmark maps are built to cover all kinds of situations for FlexNav.