关键词: ORB_SLAM2系统, RGB-D相机, 逆传感器模型（ISM）, 3D栅格地图

Abstract:

Mobile robots in a variety of tasks need to be built in map, location and path planning, but the current vision SLAM can only output camera trajectory map, but cannot generate a route planning and navigation maps. Therefore, this paper proposes a real-time 3D raster map construction algorithm, based on the ORB_SLAM2, combined with RGB-D camera. An Inverse Sensor Model（ISM） is first established. Secondly, the algorithm of 3D grid map is reconstructed for the ISM model. Finally, it combines with ORB_SLAM2 for data set experiments, simulation environment experiments and real-time construction experiments. The experimental results show that the algorithm can construct a 3D grid map with scale in real time by using ORB_SLAM2, and can clearly display the obstacle position, and verify the effectiveness of the algorithm.

Key words: ORB_SLAM2, RGB-D camera, Inverse Sensor Model（ISM）, 3D grid map