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

研究成果: Article査読

20 被引用数 (Scopus)

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.

本文言語English
ページ(範囲)479-490
ページ数12
ジャーナルJournal of Robotics and Mechatronics
28
4
DOI
出版ステータスPublished - 2016 8

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)
  • 電子工学および電気工学

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