Synchronous localization and map construction of indoor mobile robot based on the fusion of depth camera and 2D lidar

In the research of synchronous location and map construction of indoor mobile robots, lidar is often used to build maps. However, three-dimensional lidar is expensive, two-dimensional lidar can only detect information above the plane, and the map constructed by depth camera is poor, so this paper proposes a low-cost map construction method based on the fusion of depth camera and lidar. First, the joint calibration method is used to make the two sensors in the same coordinate system, then the depth image is converted into laser data, and then the data is fused by selecting the minimum value method with error processing under the same Angle. Finally, the fusion data is released to the Gmapping mapping algorithm for the construction of two-dimensional maps. The effectiveness of the proposed method is verified by setting up gazebo simulation environment, and the experiment shows that the fusion method can build a complete map.