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Laser & Optoelectronics Progress, Volume. 60, Issue 12, 1228003(2023)

Gmapping Mapping Based on Lidar and RGB-D Camera Fusion

Quanfeng Li1,2,3, Haibo Wu1,2,3、*, Jiang Chen1,2,3, and Yixiao Zhang1,2,3
Author Affiliations
  • 1Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, Yunnan, China
  • 2Key Laboratory of Intelligent Manufacturing Technology for Advanced Equipment in Yunnan Province, Kunming 650500, Yunnan, China
  • 3Yunnan Advanced Equipment Intelligent Maintenance Engineering Research Center, Kunming 650500, Yunnan, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (13)
    Equations (10)
    References (23)
    Cited By (2)
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    Paper Information
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    Figures & Tables(13)
    Laser data and camera data in the same coordinate system

    Fig. 1. Laser data and camera data in the same coordinate system

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    Laser data converted from fusion point cloud

    Fig. 2. Laser data converted from fusion point cloud

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    General block diagram of the proposed method

    Fig. 3. General block diagram of the proposed method

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    Fusion diagram of odometer

    Fig. 4. Fusion diagram of odometer

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    RPLIDAR A1 and Astra Pro camera

    Fig. 5. RPLIDAR A1 and Astra Pro camera

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    Mobile robot

    Fig. 6. Mobile robot

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    Experimental site

    Fig. 7. Experimental site

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    Standard map and grid maps obtained by three methods

    Fig. 8. Standard map and grid maps obtained by three methods

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    • Table 1. RPLIDAR A1 parameters

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      Table 1. RPLIDAR A1 parameters

      ParameterValue
      Measuring radius /m0.15-12
      Sampling frequency /1038
      Scanning frequency /Hz5.5
      Angular resolution /（°）≤1
      Scanned area /（°）360
      Accuracy of ranging

      actual distance 1%

      （≤3 m）

      actual distance 2%

      （3-5 m）

      actual distance 2.5%

      （5-12 m）

    • Table 2. Astra Pro camera parameters

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      Table 2. Astra Pro camera parameters

      ParameterValue
      Measuring range /m0.6-8
      Resolution of color image1280×720@30 frame/s
      Resolution of depth map1280×1024@7 frame/s
      Precision±（1-3）mm@1 m
      Colour FOVH66.1° and V40.2°
      Depth FOVH58.4° and V45.5°
      Delay time /ms30-45

    • Table 3. Obstacle detection rate and mapping time

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      Table 3. Obstacle detection rate and mapping time

      ParameterLaserCameraLaser and camera
      Obstacle detection rate /%61.2873.4593.31
      Mapping time /s23.354.635.7

    • Table 4. Measurement results and error analysis

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      Table 4. Measurement results and error analysis

      ParameterActualLaserCameraLaser and camera
      Line 1 /m3.253.1713.9633.181
      Line 2 /m5.185.1005.9775.167
      Line 3 /m2.772.6162.5392.69
      Angle a /（°）90919691
      Angle b /（°）90889190
      Line average absolute error /m0.02790.15540.0145
      Angle average absolute error /（°）1.53.50.5

    • Table 5. Odometer measurement results

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      Table 5. Odometer measurement results

      ParameterActualOld odometerFusion odometer
      The first distance /m3.1303.1273.132
      The second distance /m2.0452.0512.044
      The third distance /m3.0002.9903.006
      Absolute error /%0.230.11
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    Quanfeng Li, Haibo Wu, Jiang Chen, Yixiao Zhang. Gmapping Mapping Based on Lidar and RGB-D Camera Fusion[J]. Laser & Optoelectronics Progress, 2023, 60(12): 1228003

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    Paper Information

    Category: Remote Sensing and Sensors

    Received: Apr. 28, 2022

    Accepted: Jun. 16, 2022

    Published Online: Jun. 5, 2023

    The Author Email: Haibo Wu (whb_kust@kust.edu.cn)

    DOI:10.3788/LOP221447

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology