RGB_D SLAM Technology Based on Cloud Robotics.

      Аннотация: This book is suitable for students and researchers who have the foundation of cloud computing and machine vision. Simultaneous Localization and Mapping (SLAM) in the unknown environment is an important research topic in the field of mobile robot navigation. The combination of cloud computing and the robot has gradually become the research focus and Cloud Robotics has injected new potential for robot technology. This book takes the advantages of cloud robots in data computing and storage, combines cloud robots with RGB-D SLAM algorithms, and offloads the back-end part of computationally intensive algorithms to the cloud. Combining with ROS system, we propose an RGB-D SLAM service framework based on cloud robots, and provide the process of data storage and data sharing between cloud and robot. Key highlight areas include: RGB_D SLAM, Cloud Robotics, FAST-BRISK Feature Detector.

Ключевые слова: RGB-D SLAM, Cloud Robotics, depth information, Binary Robust Invariant Scalable Keypoints, Singular Value Decomposion, Pose Graph, Map Fusion