Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge

被引：27

作者：

Sujiwo, Adi ^{[1
]}

Ando, Tomohito ^{[1
]}

Takeuchi, Eijiro ^{[2
]}

Ninomiya, Yoshiki ^{[3
]}

Edahiro, Masato ^{[1
]}

机构：

[1] Nagoya Univ, Grad Sch Informat Sci, Dept Informat Engn, Chikusa Ku, 609 Natl Innovat Complex NIC,Furo Cho, Nagoya, Aichi 4648601, Japan

[2] Nagoya Univ, Grad Sch Informat Sci, Dept Media Sci, Chikusa Ku, 609 Natl Innovat Complex NIC,Furo Cho, Nagoya, Aichi 4648601, Japan

[3] Nagoya Univ, Inst Innovat Future Soc, Intelligent Vehicle Res Div, Chikusa Ku, 609 Natl Innovat Complex NIC,Furo Cho, Nagoya, Aichi 4648601, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2016年 / 28卷 / 04期

关键词：

visual localization; autonomous vehicle; field robotics; Tsukuba Challenge;

D O I：

10.20965/jrm.2016.p0479

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：479 / 490

页数：12

共 11 条

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Sujiwo A.
Takeuchi E.
Morales L.Y.
Akai N.
Darweesh H.
Ninomiya Y.
Edahiro M.
Journal of Robotics and Mechatronics, 2017, 29 (04) : 685 - 696
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[5] MAPPING AND POSITIONING SYSTEM ON OMNIDIRECTIONAL ROBOT USING SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM) METHOD BASED ON LIDAR
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[7] A Novel Approach for Lidar-Based Robot Localization in a Scale-Drifted Map Constructed Using Monocular SLAM
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[8] Towards Geographical Referencing of Monocular SLAM Reconstruction Using 3D City Models: Application to Real-Time Accurate Vision-Based Localization
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CVPR: 2009 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, VOLS 1-4, 2009, : 2874 - +
[9] Surfel-based indoor real time localization and mapping method using 3D lidar for robot
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Jia X.
Xu W.
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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument, 2020, 41 (07): : 99 - 106
[10] Traffic Signal Control for Large-Scale Urban Traffic Networks: Real-World Experiments Using Vision-Based Sensors
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