Timing-based Sensor Fusion Mapping Method for Indoor Remote Surveying Robot

For large indoor environments including protected agriculture or controlled environmental agriculture, it is inefficient to carry out indoor mapping by manpower. This paper proposes a surveying and mapping robot that can independently perform indoor surveying and mapping work through WLAN remote control. The robot uses SLAM technology to map the environment. In SLAM, a single sensor has the disadvantages of slow construction speed, missing obstacle recognition, and small measuring range. This paper uses a two-wheeled robot as a platform, equipped with a 2D-Lidar and a RGB-D camera, and proposes a timing-based sensor fusion mapping method. It can get a more accurate map, shorten the mapping time to make the surveying work more efficient.