Digital map construction of agricultural equipment depot based on improved feature matching and geographic coordinate alignment

This paper takes the agricultural equipment depot as its research object. It combines the improved ORB-SLAM3 dense mapping with geographic coordinate alignment technology to construct a digital map with high-precision geographic coordinates and clear scenes. This is done to solve the difficulties of robotic scene mapping and the lack of geographic coordinate information in the generated digital maps. The ORBBEC Gemini2 depth camera and the computing platform were used to run the improved ORB-SLAM3 dense map-building algorithm in real time. This resulted in the construction of multiple ground control points (GCPs) at the entrance of the agricultural equipment depot and the internal sweep of the agricultural equipment depot, which were then incorporated into a single map. The geographic coordinates were determined under the WGS-84 coordinate system. The real-time kinematic surveyor obtains the center position of the GCPs, and the digital maps with accurate geographic coordinates are obtained by calculating a rigid transformation matrix. This allows the digital map of the agricultural equipment depot to be converted from the local coordinate system to the WGS-84 coordinate system, thereby obtaining a digital map with accurate geographic coordinates. The digital map constructed in this paper has been demonstrated to be an effective method for restoring the shape of a scene and the structure of various types of equipment. Its accuracy has been shown to be high in the context of agricultural equipment depot, with an error rate of less than 3%. The construction method proposed in this paper can potentially create digital point cloud maps with high-precision geographic coordinate information and high-scale consistency in large scenes. This could provide crucial technical support for developing robot cluster autonomous operation.