Enhancing environmental modeling and 3D point cloud construction for unmanned vehicles using laser SLAM and stereo vision with Convolutional Neural Networks

Abstract. This research presents an innovative SLAM algorithm that integrates Convolutional Neural Networks (CNNs) with LIDAR and stereo vision to significantly enhance the accuracy of environmental modeling and the construction of dense 3D point cloud maps in complex and dynamic surroundings. By processing pre-recorded video data and employing advanced image segmentation techniques, this study achieves a deep fusion of visual and geometric data, resulting in highly detailed and precise 3D representations of the environment. The experimental results demonstrate that this approach effectively detects and excludes dynamic objects, thereby significantly improving the overall quality, robustness, and reliability of the constructed maps. This work represents a substantial advancement in SLAM technology, particularly in its capability to model and capture intricate environmental details under varying conditions, making it a powerful tool for precise environmental mapping.