This paper presents a method of fusion of lidar and camera multisensor data fusion systems, which compensates the shortcomings of monocular camera-based navigation system and Lidar-based navigation system. Because of the different imaging principle of lidar and camera, unify two coordinate systems before being calibrated. In order to complete the fusion and compensation between the lidar and camera in the data layer, the Rodriguez matrix is used to register the measured parameters. Then, the high accuracy and registered parameters are obtained by improved Danish iteration method with variable weights based on collinearity equation. Texture seams in color images are also differential corrected to provide the depth image of a high-resolution scene, which containing depth information of the unmanned vehicle. The new Slam algorithm is also designed by Invoking the Find-Contour function and Contour-Area function in Open CV library. In addition, the experiments prove the better performance of new SLAM method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    On SLAM Based on Monocular Vision and Lidar Fusion System


    Contributors:
    Wang, Qingqu (author) / Dang, Shuwen (author) / Shi, Hanhai (author) / Yang, Jianye (author)


    Publication date :

    2018-08-01


    Size :

    692806 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Vision-Based SLAM: Stereo and Monocular Approaches

    Lemaire, T. / Berger, C. / Jung, I. K. et al. | British Library Online Contents | 2007


    Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge

    Sujiwo, Adi / Ando, Tomohito / Takeuchi, Eijiro et al. | British Library Online Contents | 2016


    Homing Guidance for UAVs Using Monocular Vision-Based SLAM

    Perumalla, Aniruddha S. / Khamvilai, Thanakorn / Johnson, Eric N. | AIAA | 2025


    Monocular Vision SLAM Research for Parking Environment with Low Light

    Zhang, Sumin / Zhi, Yongshuai / Lu, Shouyi et al. | Springer Verlag | 2022