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Aiming at the problems of low accuracy, poor real-time performance and large cumulative error in traditional depth camera visual synchronization positioning and map construction algorithms, this paper proposes an improved visual SLAM algorithm for mobile robots based on depth camera. According to the realization process of robot vision, a feature point extraction algorithm based on feature extraction and image segmentation watershed algorithm is proposed in the front-end process, which improves the real-time performance of the algorithm. Then the RE-RANSAC algorithm is used to eliminate the mismatched feature points to improve the matching accuracy, and then the accumulated error is eliminated through closed loop detection, and finally the process of robot mapping is completed. After simulation experiments, the feasibility of the improved algorithm is proved, and the robot’s mapping and trajectory estimation are completed. &nbsp

Objective: To explore the effect of terbutaline sulfate combined with shunning on acute attack of asthma complicated with lobar pneumonia in children. Methods: One hundred and fifty children with acute attack of asthma and lobar pneumonia were randomly divided into routine group (seventy-five cases) and combined group (seventy-five cases). The routine group was given routine treatment. The study group was treated with routine therapy plus terbutaline sulfate plus shunning. The changes of pulmonary function and serum inflammatory factors before and after treatment, clinical effect and safety were compared between the two groups. Results: Respiratory time/inspiratory time (Ti/Te), peak time ratio (TPTEF/TE), peak volume ratio (VPEF/VE), tidal volume per kilogram (Vt/kg) were increased in both groups after treatment (P < 0.05), which in the combined group were higher than the routine group after treatment (P < 0.05). After treatment, serum levels of tumor necrosis factor-α (TNF-α), interleukin-6 (IL-6) and interleukin-8 (IL-8) in both groups decreased significantly (P < 0.05), and those in the combined group were lower than those in the routine group (P < 0.05). There was a significant difference in clinical effect distribution between the two groups (P < 0.05). The total effective rate of the combined group was higher than that of the routine group (P < 0.05). The incidence of adverse reactions in the combined group was slightly higher than that in the routine group (P> 0.05). Conclusion: On the basis of routine treatment, terbutaline sulfate combined with shunning can significantly improve pulmonary function and serum inflammatory factors in children with acute attack of asthma and lobar pneumonia, with ideal effect and safe.