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http://dx.doi.org/10.7746/jkros.2020.15.3.205

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

Ock, Yongjin (Pusan National University)
Kang, Hosun (Pusan National University)
Lee, Jangmyung (Dept of Electronics Engineering, Pusan National University)
Publication Information
The Journal of Korea Robotics Society / v.15, no.3, 2020 , pp. 205-211 More about this Journal
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
Modified ORB-SLAM; IMU; Mobile Robot; Indoor Navigation;
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Times Cited By KSCI : 3  (Citation Analysis)
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