The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Modified ORB-SLAM Algorithm for Precise Indoor Navigation of a Mobile Robot

모바일로봇의 정밀 실내주행을 위한 개선된 ORB-SLAM 알고리즘

  • Received : 2020.02.06
  • Accepted : 2020.05.11
  • Published : 2020.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose a modified ORB-SLAM (Oriented FAST and Rotated BRIEF Simultaneous Localization And Mapping) for precise indoor navigation of a mobile robot. The exact posture and position estimation by the ORB-SLAM is not possible all the times for the indoor navigation of a mobile robot when there are not enough features in the environment. To overcome this shortcoming, additional IMU (Inertial Measurement Unit) and encoder sensors were installed and utilized to calibrate the ORB-SLAM. By fusing the global information acquired by the SLAM and the dynamic local location information of the IMU and the encoder sensors, the mobile robot can be obtained the precise navigation information in the indoor environment with few feature points. The superiority of the modified ORB-SLAM was verified to compared with the conventional algorithm by the real experiments of a mobile robot navigation in a corridor environment.

Keywords

References

  1. J. S. Ko and J. W. Rheem, "Surface Inspe-ction of a Journal Bearing Using Machine Vision," J. Korean Soc. Precis. Engineering, vol. 34, no. 8, pp. 557-561, 2017, DOI: 10.7736/KSPE.2017.34.8.557.
  2. M. Lee, J. Han, C. Jang, and M. Sunwoo, "Information Fusion of Cameras and Laser Radars for Perceoption Systems of Autonomous Vehicles," Journal of Korean Institute of Intelligent Systems, vol. 23, no. 1, pp. 35-45, 2013, DOI: 10.5391/JKIIS.2013.23.1.35.
  3. H. Jung, S. J. Kim, J. Park, H. Cho, B. Ahn, Y. Na, and Y. Kim, "Challenges of Flexible Surgical Robots: Review," Trans. Korean Soc. Mech. End. A., vol. 42, no. 10, pp. 891-903, 2018, DOI: 10.3795/KSME-A.2018.42.10.891.
  4. T.-H. Cho and H.-M. Kang, "Gaze Tracki-ng Using a Modified Strarburst Algorithm and Homography Normalization," Journal of the Korea Institute of Information and Communication Engineering, vol. 18, no. 5, pp. 1162-1170, 2014, DOI: 10.6109/jkiice.2014.18.5.1162.
  5. J. Engel, J. Sturm, and D. Cremers, "Semi-Dense Visual Odometry for a Monocular Camera," 2013 IEEE International Conference on Computer Vision, pp. 1449-1456, 2013, DOI: 10.1109/ICCV.2013.183.
  6. J. Engel, T. Sch, and D. Cremers, "LSD-SLAM: Large-Scale Direct Monocular SLAM," European Conference on Computer Vision, pp. 834-849, 2014, DOI: 10.1007/978-3-319-10605-2_54.
  7. C. Kerl, J. Sturm, and D. Cremers, "Robust odometry estimation for rgb-d cameras," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 3748-3754, 2013, DOI: 10.1109/ICRA.2013.6631104.
  8. J. Graeter, A. Wilczynski, and M. Lauer, "Limo: Lidar-monocular visual odometry," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, pp. 7872-7879, 2018, DOI: 10.1109/IROS.2018.8594394.
  9. J. Y. Kim, J. Park, E. K. Kim, and S. Kim, "Filtering Method based on Gabor Wavelet for Improving Accuracy of Initial Position Estimation," Journal of Korean Institute of Intelligent Systems, vol. 29, no. 5, pp. 327-332, 2007, DOI: 10.5391/JKIIS.2019.29.5.327.
  10. J. A. Castellanos, R. Martinez-Cantin, J. D. Tardos, and J. Neira, "Robocentric map joining: Improving the consistency of EKF-SLAM," Robotics and Autonomous Systems, vol. 17, no. 1, pp. 21-29, Jan., 2007, DOI: 10.1016/j.robot.2006.06.005.
  11. J. E. Guivant, and E. M. Nebot, "Optimization of the simultaneous localization and map-building algorithm for real-time implementation," IEEE Transactions on Robotics and Automation, vol. 17, no. 3 pp. 242-257, 2001, DOI: 10.1109/70.938382.
  12. R. Mur-Artal, J. M. M. Montiel, and J. D. Tardos, "ORB-SLAM: a versatile and accurate monocular SLAM system," IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, Oct., 2015, DOI: 10.1109/TRO.2015.2463671.
  13. R. Mur-Artal and J. D. Tardos, "Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras," IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1255-1262, Oct., 2017, DOI: 10.1109/TRO.2017.2705103.
  14. B. Triggs, P. F. McLauchlan, R. I. Hartley, and A. W. Fitzgibbon, "Bundle adjustment a modern synthesis," IWVA 1999: Vision Algorithms: Theory and Practice, pp. 298-372, 2000, DOI: 10.1007/3-540-44480-7_21.
  15. D. Galvez-Lopez and J. D. Tardos, "Bags of binary words for fast place recognition in image sequences," IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, Oct., 2012, DOI: 10.1109/TRO.2012.2197158.
  16. J. L. Blanco, "A tutorial on se(3) transformation parameterizations and on-manifold optimization. Technical report," 2012, [Online], https://www.semanticscholar.org/paper/A-tutorial-on-SE(3)-transformation-and-on-manifold-Blanco/3a4b4b8d52c795513cf4581ec439c1e216010287.

Cited by

  1. Improvement of Key Point Matching Rate of ORB SLAM2 Using Edge Correction vol.22, pp.1, 2020, https://doi.org/10.9728/dcs.2021.22.1.151