Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge.
Adi SujiwoTomohito AndoEijiro TakeuchiYoshiki NinomiyaMasato EdahiroPublished in: J. Robotics Mechatronics (2016)
Keyphrases
- loop closing
- simultaneous localization and mapping
- mobile robot
- visual slam
- visual odometry
- real world
- real environment
- map building
- visual landmarks
- dynamic environments
- robot localization
- mobile robotics
- indoor environments
- kalman filter
- particle filter
- point cloud
- topological map
- data sets
- unknown environments
- augmented reality
- data association
- robot navigation
- loop closure
- human computer interaction
- monocular slam
- autonomous navigation
- outdoor environments
- image sequences
- real time
- simultaneous localization and map building
- lidar data
- sensor fusion
- multi robot
- vision system
- obstacle avoidance
- vision sensor
- parallel robot
- high resolution
- computer vision
- visual servoing
- stereo camera
- mobile robot localization
- pose estimation
- optical flow