ORB-ODOM: Stereo and Odometer Sensor Fusion for Simultaneous Localization and Mapping
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Data
2017-01-01
Autores
Caldato, Brenno A. C. [UNESP]
Achilles Filho, Ricardo [UNESP]
Castanho, Jose Eduardo C. [UNESP]
Todt, E.
Tonidandel, F.
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Ieee
Resumo
ORB-SLAM2 is one of the better-known open source SLAM implementations available. However, the dependence of visual features causes it to fail in featureless environments. With the present work, we propose a new technique to improve visual odometry results given by ORB-SLAM2 using a tightly Sensor Fusion approach to integrate camera and odometer data. In this work, we use odometer readings to improve the tracking results by adding graph constraints between frames and introduce a new method for preventing the tracking loss. We test our method using three different datasets, and show an improvement in the estimated trajectory, allowing a continuous tracking without losses.
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2017 Latin American Robotics Symposium (lars) And 2017 Brazilian Symposium On Robotics (sbr). New York: Ieee, 5 p., 2017.