Simultaneous localization and mapping of a mobile robot with stereo camera using ORB features

• Autorzy: Raoui Younès , Amraoui Mohammed

Identyfikatory

DOI

10.14313/JAMRIS/2‐2024/14

• Języki publikacji: EN

Abstrakty

EN

Simultaneous Localization and Mapping (SLAM) is applied to robots for accurate navigation. The stereo cameras are suitable for visual SLAM as they can give the depth of the visual landmarks and more precise estimations of the robot’s pose. In this paper, we present a survey of SLAM methods, either Bayesian or bioinspired. Then we present a new method of SLAM, which we call stereo Extended Kalman Filter, improving the matching by computing the innovation matrices from the left and the right images. The landmarks are computed from Oriented FAST and Rotated BRIEF (ORB) features for detecting salient points and their descriptors. The covariance matrices of the state and the robot’s map are reduced during the robot’s motion. Experiments are done on the raw images of the Kitti dataset.

Słowa kluczowe

EN

simultaneous localization; mapping; stereo camera; extended Kalman filter; mobile robots; navigation

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2024
• Tom: Vol. 18, No. 2
• Strony: 62--71
• Opis fizyczny: Bibliogr. 29 poz., rys.

Twórcy

autor

Raoui Younès

• Physics Department, Laboratory Con‐ ception and Systems, Faculty of Sciences, Mohammed V University in Rabat, 4, Avenue Ibn Battouta, BP 1014, Rabat, Morocco

autor

Amraoui Mohammed

• Computer Sciences Depart‐ ment, Intelligent Processing and Security Systems Team, Faculty of Sciences, Mohammed V University in Rabat, 4, Avenue Ibn Battouta, BP 1014, Rabat, Morocco

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki (2025).