Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge
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- Sujiwo Adi
- Nagoya University
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- Ando Tomohito
- Nagoya University
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- Takeuchi Eijiro
- Nagoya University
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- Ninomiya Yoshiki
- Nagoya University
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- Edahiro Masato
- Nagoya University
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Abstract
<p>For the 2015 Tsukuba Challenge, we realized an implementation of vision-based localization based on ORB-SLAM. Our method combined mapping based on ORB-SLAM and Velodyne LIDAR SLAM, and utilized these maps in a localization process using only a monocular camera. We also apply sensor fusion method of odometer and ORB-SLAM from all maps. The combined method delivered better accuracy than the original ORB-SLAM, which suffered from scale ambiguities and map distance distortion. This paper reports on our experience when using ORB-SLAM for visual localization, and describes the difficulties encountered.</p>
Journal
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 28 (4), 479-490, 2016-08-20
Fuji Technology Press Ltd.
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Details 詳細情報について
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- CRID
- 1390001288149501824
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- NII Article ID
- 130007671264
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- NII Book ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL BIB ID
- 027552856
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed