激光雷达/深度相机融合的SLAM实验平台开发
Development of SLAM Experimental Teaching Platform for the Fusion of Lidar/Depth Camera
胡彧奇 1司鹏举 1沈梦瑶 1尹飞虎 1黄稼伟 1常凯威1
作者信息
- 1. 河南科技大学 信息工程学院,河南 洛阳 471023
- 折叠
摘要
搭建了一种基于激光雷达/深度相机融合的同步定位与建图实验教学平台,实验平台由Nano和STM32 运动控制器组成,平台配备有奥比中光Astra S深度相机、激光雷达、陀螺仪、里程计等,通过传感器采集周围环境信息,并进行机器人运动学解算,实现了机器人运动学控制、激光雷达和深度相机的数据采集、激光雷达/深度相机融合、同步定位与建图等功能.控制系统基于ROS系统进行开发,具有可移植性强、支持二次开发等特点.本实验教学平台能够有效快速地构建场景的二维/三维地图,有助于增强学生的实践动手能力,理解相关算法具体内容,取得了良好的教学效果.
Abstract
This paper presents an experimental teaching platform for simultaneous localization and mapping(SLAM)based on the fusion of lidar and depth camera data.The platform consists of a Nano computer and an STM32 motion controller,and is equipped with an Orbbec Astra S depth camera,a lidar,a gyroscope,an odome-ter,and other sensors.The platform collects environmental information through the sensors,solves the robot kine-matics,controls the robot motion,and performs lidar/depth camera fusion,SLAM,and data visualization.The control system is developed based on the Robot Operating System(ROS),which has high portability and supports secondary development.This platform can effectively and quickly construct 2D/3D maps of scenes,which helps to enhance students'practical skills,understand the relevant algorithms,and achieve good teaching outcomes.
关键词
机器人/激光雷达/地图构建/多传感器融合/实验教学平台Key words
robot/lidar/map construction/multi-sensor fusion/experimental teaching platform引用本文复制引用
基金项目
国家自然科学基金(62201200)
河南科技大学高等教育教学改革研究与实践项目(2021BK146)
河南科技大学高等教育教学改革研究与实践项目(2021BK012)
大学生研究训练计划(202210464017)
出版年
2024
NETL
NSTL
维普
万方数据