基于体感传感器的室内机器人定位研究

同时定位与地图构建是机器人能够实现智能化自主导航的关键技术。该文提出一种基于体感传感器的移动机器人SLAM实现方法。通过分析体感视觉获取原理和数据特点，设计了系统结构，并将体感传感器获取的数据进行处理，得到构建地图所需的特征路标；再使用扩展卡尔曼滤波实现SLAM，通过实验结果验证了基于体感传感器的SLAM方法的有效性和正确性。

Study on Indoor Robot of SLAM Based on RGB-D Camera

SLAM is the key technologies for mobile robot to achieve autonomous navigation. By the fast development of the RGB - D camera, the article put forward to implementation for SLAM on RGB - D camera. Based on the system architecture adopting by the article, the data of the RGB - D camera are processed to constitute the map of the landmarks. Finally, SLAM to be achieved by EKF and validity of the RGB - D method to be proved.