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On the Application of RGB-D SLAM Systems for Practical Localization of Mobile Robots

Aleksander Kostusiak, Michał Nowicki, Piotr Skrzypczyński
2017 Journal of Automation, Mobile Robotics & Intelligent Systems  
This paper considers the prac cal applica on of the RGB-D Simultaneous Localiza on and Mapping (SLAM) techniques for localiza on of mobile robots.  ...  We a empt to answer the ques on: how the quality of the es mated sensor trajectory depends on the approach to RGB-D data processing in the SLAM system when RGB-D frames acquired on a real mobile robot  ...  The irst of these systems, PUT SLAM, was developed at the Mobile Robots Lab at PUT speci ically for localization of various mobile robots.  ... 
doi:10.14313/jamris_2-2017/17 fatcat:7jwe6ek7sffivcafdaxnuyde2u

Artificial Beacons with RGB-D Environment Mapping for Indoor Mobile Robot Localization

2016 Sensors and materials  
Thus, the indoor localization problem of a mobile robot has become a key component for real applications.  ...  Also the RGB-D camera of a mobile robot can record meaningful features or landmarks in 3D space.  ...  Furthermore, for real mobile robot applications, the kidnapping problem arises, which is a combination of those two localization problems.  ... 
doi:10.18494/sam.2016.1335 fatcat:qheenvsy6bhtlejmhmc2as4we4

A Comparison of Modern General-Purpose Visual SLAM Approaches [article]

Alexey Merzlyakov, Steve Macenski
2021 arXiv   pre-print
This innovation calls for a transformation in simultaneous localization and mapping (SLAM) systems to support this new generation of service and consumer robots.  ...  This analysis is motivated to find general purpose, feature complete, and multi-domain VSLAM options to support a broad class of robot applications for integration into the new and improved ROS 2 Nav2  ...  Further, it does not support RGB-D sensors and pure localization on previously stored map, two required features for a significant proportion service robot applications.  ... 
arXiv:2107.07589v2 fatcat:tmqzvdsigva27edmiaklkcfd74

Hybrid SLAM-based Exploration of a Mobile Robot for 3D Scenario Reconstruction and Autonomous Navigation

Thi Thoa Mac, Chyi-Yeu Lin, Nguyen Gia Huan, Luong Duc Nhat, Pham Cong Hoang, Hoang hong Hai
2021 Acta Polytechnica Hungarica  
First, this paper presents visual-based SLAM and laser-based SLAM separately. Then, two techniques are integrated into one system.  ...  A self-tuning Fuzzy-PID controller also is introduced for driving the robot to follow the trajectory precisely.  ...  Acknowledgement This work is granted by the National Foundation for Science and Technology Development of Vietnam NAFOSTED, Vietnam under project number 107.01-2018.331  ... 
doi:10.12700/aph.18.6.2021.6.11 fatcat:rzgvmqjvebfalegtpoldv5p5x4

Investigation of Widely Used SLAM Sensors Using Analytical Hierarchy Process

Muhammad Shahzad Alam Khan, Danish Hussain, Kanwal Naveed, Umar S. Khan, Imran Qayyum Mundial, Anas Bin Aqeel, Qiang Wu
2022 Journal of Sensors  
Simultaneous localization and mapping (SLAM) is one of the widely used techniques in mobile robots for localization and navigation.  ...  Accurate navigation of a mobile robot is highly significant for its uninterrupted operation.  ...  Acknowledgments We thank the Pakistan Science Foundation (PSF) for supporting this research through funding under grant PSF/NSLP/C-NUST (746) and support by Robot Maker Lab, National Centre of Robotics  ... 
doi:10.1155/2022/5428097 fatcat:6fq7f3ekybej5dfhvgpw42on5q

An Open-Source Low-Cost Mobile Robot System with an RGB-D Camera and Efficient Real-Time Navigation Algorithm [article]

Taekyung Kim, Seunghyun Lim, Gwanjun Shin, Geonhee Sim, Dongwon Yun
2022 arXiv   pre-print
In addition, we demonstrate the applicability of our mobile robot system through successful autonomous driving in an indoor environment.  ...  The proposed ground segmentation approach extracts a traversability map from raw depth images for the safe driving of low-body mobile robots.  ...  However, expensive hardware and high power consumption are hindering the practical application of mobile robots [2] .  ... 
arXiv:2103.03054v3 fatcat:7ivhf4ybgjh57o6o6jyrhhco7m

Sensor Technologies and Simultaneous Localization and Mapping (SLAM)

T.J. Chong, X.J. Tang, C.H. Leng, M. Yogeswaran, O.E. Ng, Y.Z. Chong
2015 Procedia Computer Science  
The review focuses on SLAM for mobile robots in a variety of environments.  ...  Based on this review, we propose that RGB-D sensors have unique advantages which make them particularly suitable for SLAM problems.  ...  Acknowledgement(s) This research was supported by UTARRF(6200/Y34) grant provided by Universiti Tunku Abdul Rahman for the study on 'Multi-agent 3-Dimensional SLAM using Swarm Intelligence'.  ... 
doi:10.1016/j.procs.2015.12.336 fatcat:bcwr5hyy2rdabp4ptt3g5mdtem

Efficient RGB–D data processing for feature–based self–localization of mobile robots

Marek Kraft, Michał Nowicki, Rudi Penne, Adam Schmidt, Piotr Skrzypczyński
2016 International Journal of Applied Mathematics and Computer Science  
This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame.  ...  The proposed approach is based on point features extracted from RGB-D data.  ...  An initial version of this work was presented at the special session on Robotic perception employing RGB-D images during the 13th National Conference on Robotics in Kudowa Zdrój, Poland, 2014.  ... 
doi:10.1515/amcs-2016-0005 fatcat:p2gceqprb5cn5oenehlpd3mlka

Depth camera SLAM on a low-cost WiFi mapping robot

Piotr Mirowski, Ravishankar Palaniappan, Tin Kam Ho
2012 2012 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)  
We compare the applicability of 6-degrees-offreedom RGB-D SLAM, and of particle filtering 2D SLAM algorithms and present novel ideas for loop closures.  ...  Finally, we demonstrate the use of the robot for WiFi localization in an office space.  ...  and robotic setup and Ben Lowe for his crucial logistic help.  ... 
doi:10.1109/tepra.2012.6215673 dblp:conf/tepra/MirowskiPH12 fatcat:sad2wrcvn5gwjo5jqov6dluvyy

AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments

Tianwei Zhang, Huayan Zhang, Xiaofei Li, Junfeng Chen, Tin Lun Lam, Sethu Vijayakumar
2021 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Therefore, in this paper, we propose a novel audio-visual fusion approach that fuses sound source direction into the RGB-D image and thus removes the effect of dynamic obstacles on the multi-robot SLAM  ...  However, these object detectors are computationally too expensive for mobile robot on-board processing.  ...  ACKNOWLEDGEMENT This work is supported by the Shenzhen Institute of Artificial Intelligence and Robotics for Society (2019-ICP002), The Alan Turing Institute and EU H2020 project Enhancing Healthcare with  ... 
doi:10.1109/iros51168.2021.9636585 fatcat:2lsmodgrzjggvh7nuzbrsg6zfm

AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments [article]

Tianwei Zhang, Huayan Zhang, Xiaofei Li, Junfeng Chen, Tin Lun Lam, Sethu Vijayakumar
2021 arXiv   pre-print
Therefore, in this paper, we propose a novel audio-visual fusion approach that fuses sound source direction into the RGB-D image and thus removes the effect of dynamic obstacles on the multi-robot SLAM  ...  However, these object detectors are computationally too expensive for mobile robot on-board processing.  ...  ACKNOWLEDGEMENT This work is supported by the Shenzhen Institute of Artificial Intelligence and Robotics for Society (2019-ICP002), The Alan Turing Institute and EU H2020 project Enhancing Healthcare with  ... 
arXiv:2108.01246v1 fatcat:3o3lhw4ekvarbookcvxyz2a7bm

2D Lidar-Based SLAM and Path Planning for Indoor Rescue Using Mobile Robots

Xuexi Zhang, Jiajun Lai, Dongliang Xu, Huaijun Li, Minyue Fu, Zhiguang Cao
2020 Journal of Advanced Transportation  
As the basic system of the rescue robot, the SLAM system largely determines whether the rescue robot can complete the rescue mission.  ...  This paper studies mapping and path planning for mobile robots in an indoor rescue environment.  ...  Acknowledgments is work was supported by the National Natural Science Foundation of China (Grant nos. 61633014, 61803101, and U1701264).  ... 
doi:10.1155/2020/8867937 fatcat:axqoxkvymjbgzaw74ju3zkyxt4

An Outline of Multi-Sensor Fusion Methods for Mobile Agents Indoor Navigation

Yuanhao Qu, Minghao Yang, Jiaqing Zhang, Wu Xie, Baohua Qiang, Jinlong Chen
2021 Sensors  
It is the basic and one of the most important functions of mobile agents.  ...  This work summarizes the multi-sensor fusion methods for mobile agents' navigation by: (1) analyzing and comparing the advantages and disadvantages of a single sensor in the task of navigation; (2) introducing  ...  These characters make the images of ICL-NUIM RGB-D unrealistic in vision, and the algorithms validated in ICL-NUIM RGB-D may not be completely effective in real practical applications.  ... 
doi:10.3390/s21051605 pmid:33668886 pmcid:PMC7956205 fatcat:7twh225phbbupjd4fv2fw6twum

ON CONSTRUCTION OF A RELIABLE GROUND TRUTH FOR EVALUATION OF VISUAL SLAM ALGORITHMS

Jan Bayer, Petr Čížek, Jan Faigl
2016 Acta Polytechnica CTU Proceedings  
The generated ground-truth is suitable for evaluation of different SLAM systems, as well as for tuning the parametrization of the on-line SLAM.  ...  In this work we are concerning the problem of localization accuracy evaluation of visual-based Simultaneous Localization and Mapping (SLAM) techniques.  ...  Acknowledgements The presented work was supported by the Czech Science Foundation (GAČR) under research project No. 15-09600Y. The support of grant No.  ... 
doi:10.14311/app.2016.6.0001 fatcat:kj4lwotparex3kmgudn77ug4dm

A survey of image semantics-based visual simultaneous localization and mapping: Application-oriented solutions to autonomous navigation of mobile robots

Linlin Xia, Jiashuo Cui, Ran Shen, Xun Xu, Yiping Gao, Xinying Li
2020 International Journal of Advanced Robotic Systems  
As one of the typical application-oriented solutions to robot autonomous navigation, visual simultaneous localization and mapping is essentially restricted to simplex environmental understanding based  ...  on geometric features of images.  ...  The term "SLAM" stands for simultaneous localization and mapping (proposed by Smith and Cheeseman 1 in 1986), being recognized as an eminent tool for mobile robot ego-localization at an unknown location  ... 
doi:10.1177/1729881420919185 fatcat:zatdrexf2zdydihx7smi4gmlvi
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