OPTIMIZATION ALGORITHMS FOR IMPROVING THE ACCURACY AND ROBUSTNESS OF VISUAL ODOMETRY OF GROUND-BASED MOBILE ROBOTS
Annotation
The problem of improving the accuracy and robustness of simultaneous localization and mapping methods using numerical optimization with constraints is considered. The proposed solution is based on a modification of the ORB-SLAM3 algorithm, which takes into account the peculiarities of the kinematics of ground robots and uses the complexing of visual and wheel odometry data, bundle adjustment for setting parameters that comprehensively characterize the state of the visual sensor, as well as the loop closure algorithm to correct the map. Results of the approach approbation with an OpenLoris dataset demonstrate that for several scenarios the proposed solution is significantly superior in accuracy and robustness to the ORB-SLAM3 algorithm.
Keywords
Постоянный URL
Articles in current issue
- STRUCTURAL-PARAMETRIC SYNTHESIS OF PLANAR UNDERACTUATED LINKAGES FOR ANTHROPOMORPHIC ROBOTIC HANDS
- HARDWARE AND SOFTWARE ARCHITECTURE FOR ANTHROPOMORPHIC ROBOT HAND CONTROL SYSTEM
- DESIGN OF AN UNDERACTUATED JUMPING ROBOT WITH FLEXIBLE JOINTS
- MODIFIED INTELLIGENT BIDIRECTIONAL RANDOM TREE ALGORITHM FOR PLANNING THE MOVEMENT OF ANTHROPOMORPHIC MANIPULATORS
- OBJECTS SEGMENTATION WITH RETRAINING FUNCTION
- METRIC-SEMANTIC MAPPING BASED ON DEEP NEURAL NETWORKS FOR SYSTEMS OF INDOOR AUTONOMOUS NAVIGATION
- OPTIMIZATION ALGORITHMS FOR IMPROVING THE ACCURACY AND ROBUSTNESS OF VISUAL ODOMETRY OF GROUND-BASED MOBILE ROBOTS