This article studies the use of inspection robots to construct environmental maps of domestic bungalow granaries, employing mobile robots to build different granary maps under varying conditions. The 2D maps of the granary are provided to the robots for inspection tasks, helping them reach designated locations and replacing manual inspection methods. During the construction of 2D maps, when new obstacles are discovered or the robot’s pose significantly deviates, the construction switches to 3D maps for more detailed perception and analysis of ...
