This video is about the experimental results of the following paper: Xieyuanli Chen, Hui Zhang, Huimin Lu, Junhao Xiao, Qihang Qiu and Yi Li. Robust SLAM system based on monocular vision and LiDAR for robotic urban search and rescue. Proceedings of the 15th IEEE International Symposium on Safety, Security, and Rescue Robotics 2017 (SSRR 2017), Shanghai, 2017

Abstract. In this paper, we propose a monocular SLAM system for robotic urban search and rescue (USAR). Based on it, most USAR tasks (e.g. localization, mapping, exploration and object recognition) can be fulfilled by rescue robots with only a single camera. The proposed system can be a promising basis to implement fully autonomous rescue robots. However, the feature-based map built by the monocular SLAM is difficult for the operator to understand and use. We therefore combine the monocular SLAM with a 2D LiDAR SLAM to realize a 2D mapping and 6D localization SLAM system which can not only obtain a real scale of the environment and make the map more friendly to users, but also solve the problem that the robot pose cannot be tracked by the 2D LiDAR SLAM when the robot climbing stairs and ramps. We test our system using a real rescue robot in simulated disaster environments. The experimental results show that good performance can be achieved using the proposed system in the USAR. The system has also been successfully applied in the RoboCup Rescue Robot League (RRL) competitions, where our rescue robot team entered the top 5 and won the Best in Class Small Robot Mobility in 2016 RoboCup RRL Leipzig Germany, and the champions of 2016 and 2017 RoboCup China Open RRL.