Monocular vision-based localization using ORB-SLAM with LIDAR-Aided mapping in real-world robot challenge

Adi Sujiwo; Tomohito Ando; Eijiro Takeuchi; Yoshiki Ninomiya; Masato Edahiro

doi:10.20965/jrm.2016.p0479

Monocular vision-based localization using ORB-SLAM with LIDAR-Aided mapping in real-world robot challenge

Adi Sujiwo, Tomohito Ando, Eijiro Takeuchi, Yoshiki Ninomiya, Masato Edahiro

Green Computing Systems Research Organization

Research output: Contribution to journal › Article › peer-review

19 Citations (Scopus)

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
Pages (from-to)	479-490
Number of pages	12
Journal	Journal of Robotics and Mechatronics
Volume	28
Issue number	4
DOIs	https://doi.org/10.20965/jrm.2016.p0479
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

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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.",

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AU - Ninomiya, Yoshiki

AU - Edahiro, Masato

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AB - 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.

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Monocular vision-based localization using ORB-SLAM with LIDAR-Aided mapping in real-world robot challenge

Abstract

Keywords

ASJC Scopus subject areas

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