SLAM mapping based on fusion of LiDAR and RGB-D camera
For the joint calibration of 2D LiDAR and RGB-D camera,the improved ORB-SLAM2 algorithm was used to construct dense point cloud map,octree map and raster map.An improved mapping algorithm combining Cartographer algorithm with improved ORB-SLAM2 algorithm is proposed.The experimental results show that compared with the traditional ORB-SLAM2 algorithm,the new fusion algorithm can achieve 96.8%obstacle recognition rate and reduce the absolute pose error by 53.2%,which improves the accuracy and ro-bustness of map construction.
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