The invention discloses a
robot indoor mapping method based on vision and
laser slam. The method comprises the following steps that: a
vision sensor acquires a left view and a right view to generate afeature
point cloud;
pose transformation
estimation of a
robot based on vision is calculated;
laser data are obtained,
robot pose transformation
estimation based on
laser is calculated, and a confidence coefficient of map grids is updated; a tile type mapping method is adopted and continuous laser
point cloud data are utilized to generate sub-graphs; obtained feature points matches the sub-graphs; and the robot
pose in each sub-graph is updated through
graph optimization to form a final mapping result. According to the method, a visual and laser combined mapping method is adopted; on the onehand, the defect that a visual
algorithm is greatly influenced by illumination is overcome; on the other hand, closed loops are detected through descriptor attributes of feature points, so that a problem that the success rate of laser
closed loop detection is too low is solved and the
closed loop detection efficiency is improved.