Abstract
In view of the current problem that the navigation effect of the target point of the indoor small environment is not ideal in the V_SLAM of the current mobile robot through the depth camera, based on the RTAB-MAP algorithm, it is proposed to configure the multi-sensor configuration map navigation system based on the use of visual map navigation and the lidar odometer and robot visual mileage rgbd_odometry. Experimental results show that compared with single-V_SLAM vision or lidar mapping, RTAB-MAP after extended sensor configuration can obtain a three-dimensional depth map with richer information and more accurate map edges, which improves the accuracy and practicality of visual navigation to a certain extent.
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