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A robust and accurate simultaneous localization and mapping system for RGB-D cameras
Wang HY(王化友)1,2; Hu YM(胡艳明)1,2; Yang LY(杨丽英)1; He YQ(何玉庆)1
作者部门机器人学研究室
会议名称8th International Conference on Information Science and Technology, ICIST 2018
会议日期June 30 - July 6, 2018
会议地点Cordoba, Granada, And Seville, Spain
会议主办者City University of Hongkong ; University of Cordoba ; University of Granada ; University of Seville
会议录名称8th International Conference on Information Science and Technology, ICIST 2018
出版者IEEE
出版地New York
2018
页码458-465
收录类别EI
EI收录号20183505760345
产权排序1
ISBN号978-1-5386-3781-4
关键词SLAM localization mapping RGB-D bundle adjustment
摘要This paper presents a feature-based simultaneous localization and mapping (SLAM) system for RGB-D cameras that operates in real time, in indoor environments. The system is composed of three central components: Tracking, mapping and loop closing which are based on ORB-SLAM2 [1]. The tracking part estimates the pose of a frame via optimizing both the reprojection error and inverse depth error of matching feature points, rather than just optimizing the reprojection error like ORB-SLAM2 [1]. The mapping part optimizes the pose of all keyframes and the position of all map points by using bundle adjustment, and an occupancy grid map of the surrounding environment is constructed based on the octree-based mapping framework OctoMap [2] for high-level tasks, and the map is more useful then the sparse points representation in ORB-SLAM2 [1]. The loop closing of ORB-SLAM2 [1] just uses color appearance information, but our system uses both the color appearance information and depth consistency to deal with inaccurate data association. The experiment results in the TUM RGB-D dataset [3] shows that our system achieves better localization accuracy and robustness than ORB-SLAM2 [1].
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22727
专题机器人学研究室
通讯作者Wang HY(王化友)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Wang HY,Hu YM,Yang LY,et al. A robust and accurate simultaneous localization and mapping system for RGB-D cameras[C]//City University of Hongkong, University of Cordoba, University of Granada, University of Seville. New York:IEEE,2018:458-465.
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