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