摘要： 针对动态环境下移动机器人同时定位与建图(SLAM)问题，设计一种动态环境SLAM系统——SLAMiDE，给出系统的整体结构框架和实现过程。该系统通过动态目标检测、SLAM和动态目标跟踪同时实现动态地图构建、静态地图构建和机器人定位。实验结果证明，该系统是正确、可行的。
关键词:
移动机器人,
同时定位与建图,
动态环境,
动态目标检测,
数据关联
Abstract: This paper designs a Simultaneous Localization and Mapping(SLAM) system to realize the mobile robot Simultaneous Localization and Mapping(SLAM) in dynamic environment, and presents the overall framework and realization process. The SLAMiDE system realizes the dynamic map building, static map building and mobile robot localization simultaneously through dynamic objects detection, SLAM and dynamic objects tracking. Experimental results show that SLAMiDE system is testified correct and feasible.
Key words:
mobile robot,
Simultaneous Localization and Mapping(SLAM),
dynamic environment,
dynamic objects detection,
data association
中图分类号:
陈白帆, 蔡自兴, 邹智荣. 移动机器人SLAMiDE系统设计与实现[J]. 计算机工程, 2011, 37(17): 158-160.
CHEN Bai-Fan, CA Zi-Xin, JU Zhi-Rong. Design and Implementation of Mobile Robot SLAMiDE System[J]. Computer Engineering, 2011, 37(17): 158-160.