关键词: 即时定位与地图构建（SLAM）, 移动机器人, 地标, 重定位, YOLOv3算法

Abstract:

In terms of the problem of location distortion of mobile robot in SLAM（Simultaneous Localization And Mapping）, a method is proposed to correct incorrect location of the robot by building landmark database and establishing pose derivation model. The semantic laser is obtained by combining visual information and laser data in the process of mapping. Semantic labels is attached to landmarks and their location information on the map is recorded. Combining with various pose data and relative position relations, the actual position of the robot on the map can be calculated when location deviation occurs during navigation. The relocation can be completed. Experimental results show that this method overcomes the disadvantage of using laser or vision to locate or relocate the robot in the indoor environment, and it can effectively solve the problem of robot position drift. Even if the robot is hijacked from the current position to another position, it can be quickly relocated according to the proposed method, and the location accuracy is high.

Key words: Simultaneous Localization And Mapping（SLAM）, mobile robot, landmark, relocation, YOLOv3 algorithm