Lidar guided stereo simultaneous localization and mapping (SLAM) for indoor Three-dimensional reconstruction

摘要

Based on the requirement of industrial automation, this paper proposes a three-dimensional reconstruction algorithm of the dynamic environment for industrial operation environment perception, which can be applied to many different industrial fields. According to the actual situation of the inner wall of the rolling mill, a method of lidar raw data preprocessing is proposed in this paper. The original lidar data is tagged and the detailed local point cloud information of interest is isolated. Loop detection is introduced into the algorithm to establish a globally consistent point cloud graph. The overall environment modeling algorithm is constructed to realize the real-time dynamic modeling of indoor environment in the actual industrial environment operation. The method has been evaluated by real-time reconstruction of the three-dimensional model of the specified area, which provides prior information for the operation of the robotic manipulator. We compare the performance of three-dimensional with loam, using the actual industrial environment, and show that our algorithm achieves better accuracy with reduced computational expense.