Research on SLAM Algorithm of Mobile Robot Based on the Fusion of 2D LiDAR and Depth Camera
This paper proposes a new Simultaneous Localization and Mapping (SLAM) method on the basis of graph-based optimization through the combination of the Light Detection and Ranging (LiDAR), RGB-D camera, encoder and Inertial Measurement Unit (IMU).It can conduct joint positioning of four sensors by taking advantaging of the unscented Kalman filter (UK