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Design of Multisensor Mobile Robot Vision Based on the RBPF-SLAM Algorithm

Author

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  • Yiyi Cai
  • Tuanfa Qin
  • Wenlong Hang

Abstract

The existing algorithms are mainly based on the laser or visual inertial odometer, which has problems such as large particle recommendation distribution error, particle consumption, and long running time of the algorithm. An SLAM scheme based on multisensor fusion is proposed, which integrates multisource sensor data including lidar, camera, and IMU and constructs a set of real-time mapping and positioning system with better robustness and higher accuracy. The experimental results show that the proposed SLAM method uses less running time, and the accuracy of map construction is better.

Suggested Citation

  • Yiyi Cai & Tuanfa Qin & Wenlong Hang, 2022. "Design of Multisensor Mobile Robot Vision Based on the RBPF-SLAM Algorithm," Mathematical Problems in Engineering, Hindawi, vol. 2022, pages 1-7, August.
    • Handle: RePEc:hin:jnlmpe:1518968
    DOI: 10.1155/2022/1518968
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    Cited by:

    1. Jian Sun & Jie Zhao & Xiaoyang Hu & Hongwei Gao & Jiahui Yu, 2023. "Autonomous Navigation System of Indoor Mobile Robots Using 2D Lidar," Mathematics, MDPI, vol. 11(6), pages 1-21, March.

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