Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge

• Sujiwo Adi

  Nagoya University

• Ando Tomohito

  Nagoya University

• Takeuchi Eijiro

  Nagoya University

• Ninomiya Yoshiki

  Nagoya University

• Edahiro Masato

  Nagoya University

抄録

For the 2015 Tsukuba Challenge, we realized an implementation of vision-based localization based on ORB-SLAM. Our method combined mapping based on ORB-SLAM and Velodyne LIDAR SLAM, and utilized these maps in a localization process using only a monocular camera. We also apply sensor fusion method of odometer and ORB-SLAM from all maps. The combined method delivered better accuracy than the original ORB-SLAM, which suffered from scale ambiguities and map distance distortion. This paper reports on our experience when using ORB-SLAM for visual localization, and describes the difficulties encountered.

収録刊行物

• Journal of Robotics and Mechatronics

  Journal of Robotics and Mechatronics 28 (4), 479-490, 2016-08-20

  富士技術出版株式会社

キーワード

• visual localization
• autonomous vehicle
• field robotics
• Tsukuba Challenge

詳細情報

• CRID: 1390001288149501824
• NII論文ID: 130007671264
• NII書誌ID: AA10809998
• DOI: 10.20965/jrm.2016.p0479
• ISSN: 18838049
• ISSN: 09153942
• NDL書誌ID: 027552856
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I027552856
• Web Site: https://www.fujipress.jp/main/wp-content/themes/Fujipress/phyosetsu.php?ppno=ROBOT002800040006
• 本文言語コード: en
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可