Meteor Tail: Octomap Based Multi-sensor Data Fusion Method

摘要

With the development of robot sensing technology, the autonomous exploration of robot in the unknown environment has become a major problem that needs to be faced at present. Among them, the data fusion technology of multi-sensor is particularly important. At present, the mainstream sensors include binocular camera, laser radar, infrared camera and multi-spectral camera. This paper proposes a new multi-sensor data fusion method, named meteor tail, which combines octomap to integrate all sensor data into one data structure, and this data structure corresponds to the real world voxel one by one. Experiments show that this data structure perfectly integrates various sensor data and has strong application value. At the same time, different sensor data can be visually displayed according to the needs.