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

グリーン・コンピューティング・システム研究機構

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
巻	28
号	4
DOI	https://doi.org/10.20965/jrm.2016.p0479
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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author = "Adi Sujiwo and Tomohito Ando and Eijiro Takeuchi and Yoshiki Ninomiya and Masato Edahiro",

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AU - Sujiwo, Adi

AU - Ando, Tomohito

AU - Takeuchi, Eijiro

AU - Ninomiya, Yoshiki

AU - Edahiro, Masato

PY - 2016/8

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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.

KW - Autonomous vehicle

KW - Field robotics

KW - Tsukuba Challenge

KW - Visual localization

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

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