Visual SLAM-based Localization and Navigation for Service Robots: The Pepper Case
We propose a Visual-SLAM based localization and navigation system for service robots. Our system is built on top of the ORB-SLAM monocular system but extended by the inclusion of wheel odometry in the estimation procedures. As a case study, the proposed system is validated using the Pepper robot, whose short-range LIDARs and RGB-D camera do not allow the robot to self-localize in large environments. The localization system is tested in navigation tasks using Pepper in two different environments: a medium-size laboratory, and a large-size hall.
Code (1)
Similar Papers 제목 키워드 기반
DVM-SLAM: Decentralized Visual Monocular Simultaneous Localization and Mapping for Multi-Agent Systems
Cooperative Simultaneous Localization and Mapping (C-SLAM) enables multiple agents to work together in mapping unknown environments while simultaneously estimating their own positions. This approach enhances robustness, …
Autonomous NavigationCollision AvoidanceSimultaneous Localization and MappingSolving Short-Term Relocalization Problems In Monocular Keyframe Visual SLAM Using Spatial And Semantic Data
In Monocular Keyframe Visual Simultaneous Localization and Mapping (MKVSLAM) frameworks, when incremental position tracking fails, global pose has to be recovered in a short-time window, also known as short-term relocali…
Indoor LocalizationSimultaneous Localization and MappingA Collaborative Visual SLAM Framework for Service Robots
We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to a…
global-optimizationRetrievalSimultaneous Localization and MappingMulti-Session Visual SLAM for Illumination Invariant Re-Localization in Indoor Environments
For robots navigating using only a camera, illumination changes in indoor environments can cause re-localization failures during autonomous navigation. In this paper, we present a multi-session visual SLAM approach to cr…
Autonomous NavigationMagnetic-Visual Sensor Fusion based Medical SLAM for Endoscopic Capsule Robot
A reliable, real-time simultaneous localization and mapping (SLAM) method is crucial for the navigation of actively controlled capsule endoscopy robots. These robots are an emerging, minimally invasive diagnostic and the…
DiagnosticSensor FusionSimultaneous Localization and MappingSurface Reconstruction