Mobile robot mine scene reconstruction method and system based on SLAM

The invention provides a mobile robot mine scene reconstruction method and system based on SLAM. The method comprises the following steps: acquiring laser point cloud data and visual point cloud data measured by a mobile robot and calibrated synchronously; fusing the obtained laser point cloud data and visual point cloud data; carrying out point cloud motion distortion removal processing and point cloud filtering processing on the fused point cloud data; adding IMU pre-integration data, point cloud key frame data and GNSS data into a constraint sub-graph by combining the processed point cloud data and adopting a multi-constraint factor graph algorithm based on graph optimization, and performing loopback detection to obtain a reconstructed three-dimensional map. According to the invention, three-dimensional reconstruction in the mine scene can be effectively realized, the point cloud map with colors is finally obtained, and the precision of mine scene reconstruction is improved. 本公开提供了一种基于SLAM的移动机器人矿山场景重建方法及系统