Research on sample transfer robot of cold storage based on visual SLAM

Aiming at the transport of biological samples under low temperature environment, a sample transport robot based on visual SLAM navigation was designed to complete the transport of sample tubes under low temperature cold storage environment. SLAM uses RGB-D SLAM three-thread scheme to complete real-time localization and mapping. The algorithm is improved considering that the actual environment is static stability and sufficient illumination, and the front-end odometer is prone to mismatching and the data association time. An improved "FAST-BRIEF-COUPLING" loosely coupled data association strategy is proposed to provide more response time for back-end optimization threads and global pose map optimization. Through the simulation environment experiment, the real-time and robust performance of the algorithm can meet the needs of practical applications.