Indoor mobile robot localization technology based on depth camera and QR code
A method for indoor mobile robot localization was proposed based on ORB_SLAM2 as a basic framework and using QR code assisted depth cameras.In response to the Z-axis drift phenomenon that occurred in the positioning process of existing visual SLAM,a planar motion model constraint was proposed to reduce the cumulative Z-axis error in robot positioning results.In response to the problems of algorithm degradation and easy tracking failure in weak texture environments of visual SLAM,QR codes in indoor environments were posted and their mathematical models were used as localization constraints to improve the accuracy and robustness of the system.The experimental results in real environments showed that compared to the original algorithm,our algorithm had improved the Z-axis accuracy by 42.95%;Using the positioning result of ORB_SLAM3 in real environment,the positioning accuracy of our algorithm was improved by 4.11%compared to the original algorithm,proving the positioning advantage of our algorithm in indoor environments.
mobile robotssynchronous positioningmap constructiondepth cameraQR codeconstraints for planar motion models
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