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2017 | OriginalPaper | Buchkapitel

On-Board Visual SLAM on a UGV Using a RGB-D Camera

verfasst von : Wilbert G. Aguilar, Guillermo A. Rodríguez, Leandro Álvarez, Sebastián Sandoval, Fernando Quisaguano, Alex Limaico

Erschienen in: Intelligent Robotics and Applications

Verlag: Springer International Publishing

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Abstract

We present a approach to real-time localization and mapping using a RGB-D camera, such as Microsoft Kinect, and a small and powerful computer Intel Stick Core M3 Processor. Our system can run the computation and sensing required for SLAM on-board the UGV, removing the dependence on unreliable wireless communication. We make use of visual odometry, loop closure and graph optimization to achieve this purpose. Our approach is able to perform accurate and efficient on-board SLAM, and we evaluate its performance thoroughly with varying environments and illumination conditions. The experiments demonstrate that our system can robustly deal with difficult data in indoor and outdoor scenarios.

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Vorheriges Kapitel Autonomous Navigation Control for Quadrotors in Trajectories Tracking

Nächstes Kapitel Projective Homography Based Uncalibrated Visual Servoing with Path Planning

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Titel: On-Board Visual SLAM on a UGV Using a RGB-D Camera
verfasst von: Wilbert G. Aguilar
Guillermo A. Rodríguez
Leandro Álvarez
Sebastián Sandoval
Fernando Quisaguano
Alex Limaico
Verlag: Springer International Publishing
Buch: Intelligent Robotics and Applications
Print ISBN: 978-3-319-65297-9

Electronic ISBN: 978-3-319-65298-6

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-65298-6_28

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