摘要
针对室内未知环境地图构建问题,通过Kinect传感器获取障碍物深度图像信息,采用基于Bayesian的概率栅格计算方法,实现室内环境下的实时地图构建,并通过移动机器人平台验证其有效性和准确性。
Aiming at the problem of indoor and unknown environment map building, obtains the information of obstacle depth image by the Kinect sen- sor, and uses the computational methods of probability grid based on the Bayesian to extract real-time map building under the indoor envi- ronment. With the platform of mobile robot, tests the accuracy and validity.
