Fig. 1. RGB-D SLAM mapping process
Fig. 2. Principle of RGB-D SLAM algorithm
Fig. 3. Generation process of locating points
Fig. 4. Map construction and closed-loop detection process
Fig. 5. Hardware platform of mobile robot system
Fig. 6. Exploration experiment: (a) corridor 1, (b) corridor 2, and (c) classroom
Fig. 7. Experimental scenarios and results: (a) scene diagram, (b) point cloud map
Fig. 8. 3D reconstruction effect: (a) 2D image, (b) 3D point cloud
Fig. 9. Coordinate acquisition: (a) Total Station Acquisition, (b) SLAM Point Cloud Acquisition
Fig. 10. Coordinate acquisition: (a) Total Station Acquisition, (b) SLAM Point Cloud Acquisition
Table 1. Contrast of coordinates of control points (Unit : m)
참고문헌
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