Visual SLAM Indoor 3D Map Construction Based on Kinect V1 Camera

The visual SLAM (Simultaneous Localization and Mapping) algorithm is widely used in fields such as unmanned driving, robot cruising, and VR, and there is an urgent need to conduct in-depth research on the three-dimensional mapping of the visual SLAM algorithm in various scenarios. For the problem of 3D mapping in indoor environments, the point cloud data collected by the Kinect V1 camera XBOX360 is processed. Based on the ROS system, ORB algorithm is used for extracting feature points, and the Iterative Closest Point algorithm (ICP) is used for map construction, and dense point cloud mapping is performed using existing datasets to achieve a complete 3D map construction of the indoor environment.