| This paper studies the three-dimensional(3D) mobile robot localization and3Dcolor mapping based on3D camera, aims to study kinds of key technologies in3Dmapping and build a complete3D mapping system which includes software andhardware design. Its main work is as follows:Firstly,this paper constructing mobile robot3D mapping platform.The hardwareplatform uses a Pioneer robot and a3D visual device which is a compound eye camerabased on TOF camera and CCD camera. Meanwhile,it uses the PCL as robot softwareplatform.Secondly,this paper propose a integrated3D color mapping scheme. Based on sixdegrees of freedom parameter model, this paper proposes an improved ICP algorithmbased on matching points set,which is the key technology of3D motion estimation;Using the initial position of the robot,it establishes a method to initialize and update3D map,and then displays the preliminary3D map. It analysizes the experimentalresults and confirms that the methods of the motion estimation and3D mapping areefficient.But there is accumulative error which leads to deformation of the map.Itneeds further improvement.Considering the above problem, this paper proposes a loop closure detection andglobal optimization solution. Based on the loop closure detection research,it improvesthe key frame selection method and Euclidean distance exclusion method in the easyloop closure detection, innovatively proposes the best loop closure choice method andneighborhood comparison method in conplex loop closure detection.The improvedloop closure detection is applied to the map optimization, and then the paperanalysizes3D mapping experiment.In the last section,this paper introduces design and implementation of3D colormapping software system.It proposes the mapping software design structure based onfive modules which are Srcamera，Dhcamera，PCLmap，image process and SRCCDdlg,and implement software system based onVisio studio2010and PCL.Finally, itintroduces the interface of the software and mapping function. |
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