Dataset Information

RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots.

ABSTRACT: Using camera sensors for ground robot Simultaneous Localization and Mapping (SLAM) has many benefits over laser-based approaches, such as the low cost and higher robustness. RGBD sensors promise the best of both worlds: dense data from cameras with depth information. This paper proposes to fuse RGBD and IMU data for a visual SLAM system, called VINS-RGBD, that is built upon the open source VINS-Mono software. The paper analyses the VINS approach and highlights the observability problems. Then, we extend the VINS-Mono system to make use of the depth data during the initialization process as well as during the VIO (Visual Inertial Odometry) phase. Furthermore, we integrate a mapping system based on subsampled depth data and octree filtering to achieve real-time mapping, including loop closing. We provide the software as well as datasets for evaluation. Our extensive experiments are performed with hand-held, wheeled and tracked robots in different environments. We show that ORB-SLAM2 fails for our application and see that our VINS-RGBD approach is superior to VINS-Mono.

SUBMITTER: Shan Z

PROVIDER: S-EPMC6567327 | biostudies-literature | 2019 May

REPOSITORIES: biostudies-literature

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Publications

RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots.

Shan Zeyong Z Li Ruijian R Schwertfeger Sören S

Sensors (Basel, Switzerland) 20190515 10

Using camera sensors for ground robot Simultaneous Localization and Mapping (SLAM) has many benefits over laser-based approaches, such as the low cost and higher robustness. RGBD sensors promise the best of both worlds: dense data from cameras with depth information. This paper proposes to fuse RGBD and IMU data for a visual SLAM system, called VINS-RGBD, that is built upon the open source VINS-Mono software. The paper analyses the VINS approach and highlights the observability problems. Then, w ...[more]

PMID: 31096683

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Dataset Information

RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots.

Publications

RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots.

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