Abstract:The objective of this paper is to develop a mobile robot system to construct stereo vision and sonar fusion grid maps of 3D environment structure, which is based on a visual simultaneously localization and mapping (vSLAM) system. We first solve the problem of large textureless area for stereo camera by projecting laser dots onto them, and design the system algorithm to avoid the visual features of vSLAM disturbed by the projected laser dots. Meanwhile, some functions are integrated to make the projection effic… Show more
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