Next Article in Journal
Optical Sensors for Multi-Axis Angle and Displacement Measurement Using Grating Reflectors
Previous Article in Journal
Deep Green Diagnostics: Urban Green Space Analysis Using Deep Learning and Drone Images
Open AccessArticle

A Novel RGB-D SLAM Algorithm Based on Cloud Robotics

by Yanli Liu *,†, Heng Zhang *,† and Chao Huang
School of Information Engineering, East China Jiaotong University, Nanchang 330013, China
Authors to whom correspondence should be addressed.
These authors contributed equally to this work.
Sensors 2019, 19(23), 5288;
Received: 11 October 2019 / Revised: 27 November 2019 / Accepted: 28 November 2019 / Published: 1 December 2019
In this paper, we present a novel red-green-blue-depth simultaneous localization and mapping (RGB-D SLAM) algorithm based on cloud robotics, which combines RGB-D SLAM with the cloud robot and offloads the back-end process of the RGB-D SLAM algorithm to the cloud. This paper analyzes the front and back parts of the original RGB-D SLAM algorithm and improves the algorithm from three aspects: feature extraction, point cloud registration, and pose optimization. Experiments show the superiority of the improved algorithm. In addition, taking advantage of the cloud robotics, the RGB-D SLAM algorithm is combined with the cloud robot and the back-end part of the computationally intensive algorithm is offloaded to the cloud. Experimental validation is provided, which compares the cloud robotic-based RGB-D SLAM algorithm with the local RGB-D SLAM algorithm. The results of the experiments demonstrate the superiority of our framework. The combination of cloud robotics and RGB-D SLAM can not only improve the efficiency of SLAM but also reduce the robot’s price and size. View Full-Text
Keywords: RGB-D SLAM; cloud robotics; ROS; 3D point cloud RGB-D SLAM; cloud robotics; ROS; 3D point cloud
Show Figures

Figure 1

MDPI and ACS Style

Liu, Y.; Zhang, H.; Huang, C. A Novel RGB-D SLAM Algorithm Based on Cloud Robotics. Sensors 2019, 19, 5288.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

Back to TopTop