3D Environment Modelling of Mobile Robot based on Virtual Reality and Point Cloud Technology

Traditional virtual reality (VR) technology generates indoor 3D map models through human modeling, which has problems such as slow response time and bias. For this reason, we propose a robot-aware environment modeling scheme with altered point cloud generation algorithm and VR. First, the 3D point cloud is reconstructed into a robot-sensitive environment model by environment-aware reconstruction algorithm and imported into the computational architecture. Then, the robot is repositioned in different environments by visual localization techniques and the robot pose is mapped in real time to achieve human-robot interaction. Experiments show that using visual repositioning techniques with point clouds to build environment-aware models is not only fast, but also solves the scene scale deviation and enables the reuse of maps. At the same time, the VR technology enables the operator to obtain a strong sense of immersion. © 2023 CAD Solutions, LLC.