Abstract
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.
Original language | English |
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Pages (from-to) | 479-490 |
Number of pages | 12 |
Journal | Journal of Robotics and Mechatronics |
Volume | 28 |
Issue number | 4 |
DOIs | |
Publication status | Published - 2016 Aug |
Keywords
- Autonomous vehicle
- Field robotics
- Tsukuba Challenge
- Visual localization
ASJC Scopus subject areas
- Computer Science(all)
- Electrical and Electronic Engineering