Analysis of ROS-based Visual and Lidar Odometry for a Teleoperated Crawler-type Robot in Indoor Environment

Maxim Sokolov, Oleg Bulichev, Ilya Afanasyev
2017 Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics  
This article presents a comparative analysis of ROS-based monocular visual odometry, lidar odometry and ground truth-related path estimation for a crawler-type robot in indoor environment. We tested these methods with the crawler robot "Engineer", which was teleoperated in a small-sized indoor workspace with officestyle environment. Since robot's onboard computer can not work simultaneously with ROS packages of lidar odometry and visual SLAM, we used online computation of lidar odometry, while
more » ... ideo data from onboard camera was processed offline by ORB-SLAM and LSD-SLAM algorithms. As far as crawler robot motion is accompanied by significant vibrations, we faced some problems with these visual SLAM, which resulted in decreasing accuracy of robot trajectory evaluation or even fails in visual odometry, in spite of using a video stabilization filter. The comparative analysis shown that lidar odometry is close to the ground truth, whereas visual odometry can demonstrate significant trajectory deviations. Sokolov, M., Bulichev, O. and Afanasyev, I. Analysis of ROS-based Visual and Lidar Odometry for a Teleoperated Crawler-type Robot in Indoor Environment.
doi:10.5220/0006420603160321 dblp:conf/icinco/SokolovBA17 fatcat:7cix6m6ebfb2jhgkckcymr6cky