A Implementation Method of Indoor SLAM Using Velodyne Laser Radar for Mobile Robot

Yue-hai WANG, Jing-yu QI, Xiong LI, Wei SONG


SLAM is widely studied in complex indoor environment reconstruction by mobile robot. The Rao-Blackwellised particle filter based SLAM is used for map construction and the localization of robot. It bases on the scanning data of the velodyne laser radar to perceive the external environment. And the odometer is to provide the status of robot. However, the cumulative error is produced by the odometer during the moving period. In this paper, in order to increase the accuracy of robot motion estimation, the location of the robot is updated by incorporating scanning matching. The localization and map construction of the mobile robot are achieved in indoor environment.


Laser radar, RBPF, SLAM


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