Novel cartographer using an OAK-D smart camera for indoor robots location and navigation

Abstract

In recent years, service robots have been widely used in people’s daily life, and with the development of more and more intelligence, people put forward higher requirements for autonomous positioning and navigation functions of robots. Like outdoor navigation, indoor navigation also needs the support of navigation data. Although the indoor positioning and navigation scheme based on cameras, lidars and other sensors is gradually developing, due to the complexity of the indoor structure, manual production of indoor navigation data is time-consuming and laborious, and the efficiency is relatively low. In order to solve the problem of low productivity and improve the accuracy of robot automatic navigation, we added a new type of intelligent camera, called OpenCV AI kit or OAK-D, and proposed a method to automatically build data files that can be used for indoor navigation and location services using indoor 3D point cloud data. This intelligent camera performs neural reasoning on chips that do not use GPUs. It can also use stereo drills for depth estimation, and use 4K color camera images as input to run the neural network model. Python API can be called to realize real-time detection of indoor doors, windows and other static objects. The target detection technology uses an artificial intelligence camera, and the robot can well identify and accurately mark on the indoor map. In this paper, a high-performance indoor robot navigation system is developed, and multisensor fusion technology is designed. Environmental information is collected through artificial intelligent camera (OAK-D), laser lidar, and data fusion is carried out. In the experiment part of this paper,The static fusion map module is created based on the laser sensor information and the sensor information of the depth camera, the hierarchical dynamic cost map module is created in the real-time navigation, and the global positioning of the robot is realized by combining the word bag model and the laser point cloud matching. Then a software system is realized by integrating each module. The experiment proves that the system is practical and effective, and has practical value.