RGB-D sensor based mobile robot SLAM in indoor environment

Abstract

A simultaneous localization and mapping (SLAM) approach based on RGB-D sensor in indoor environment is presented in this paper. The S-NARF feature of point cloud was extracted, and then used for point cloud registration. In particular, a semi-random search strategy is proposed for the loop closures detection. The poses estimation was optimized under the g ² o framework. The experiments demonstrate that the approach can effectively solve SLAM problem in indoor environment and the poses estimation have met the demand for precision.