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Monocular depth estimation for 2D mapping of simulated environments

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This article addresses the problem of constructing maps for 2D simulated environments. An algorithm based on monocular depth estimation is proposed achieving comparable accuracy to methods utilizing expensive sensors such as RGBD cameras and LIDARs. To solve the problem, we employ a multi-stage approach. First, a neural network predicts a relative disparity map from an RGB flow provided by RGBD camera. Using depth measurements from the same camera, two parameters are estimated that connect the relative and absolute displacement maps in the form of a linear regression relation. Based on a simpler RGB camera, by applying a neural network and estimates of scaling parameters, an estimate of the absolute displacement map is formed, which allows to obtain an estimate of the depth map. Thus, a virtual scanner has been designed providing Cartographer SLAM with depth information for environment mapping. The proposed algorithm was evaluated on a ROS 2.0 simulation of a simple mobile robot. It achieves faster depth prediction compared to other depth estimation algorithms. Furthermore, maps generated by our approach demonstrated a high overlap ratio with those obtained using an ideal RGBD camera. The proposed algorithm can find applicability in crucial tasks for mobile robots, like obstacle avoidance, and path planning. Moreover, it can be used to generate accurate cost maps, enhancing safety and adaptability in mobile robot navigation.

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