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 |
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ページ(範囲) | 479-490 |
ページ数 | 12 |
ジャーナル | Journal of Robotics and Mechatronics |
巻 | 28 |
号 | 4 |
DOI | |
出版ステータス | Published - 2016 8月 |
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