loading
Documents

Research.Publish.Connect.

Paper

Authors: Maxim Sokolov ; Oleg Bulichev and Ilya Afanasyev

Affiliation: Innopolis University, Russian Federation

ISBN: 978-989-758-264-6

Keyword(s): Monocular SLAM, ROS, Visual Odometry, Lidar Odometry, Crawler Robot, ORB-SLAM, LSD-SLAM.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: This article presents a comparative analysis of ROS-based monocular visual odometry, lidar odometry and ground truth-related path estimation for a crawler-type robot in indoor environment. We tested these methods with the crawler robot ”Engineer”, which was teleoperated in a small-sized indoor workspace with office-style environment. Since robot’s onboard computer can not work simultaneously with ROS packages of lidar odometry and visual SLAM, we used online computation of lidar odometry, while video data from onboard camera was processed offline by ORB-SLAM and LSD-SLAM algorithms. As far as crawler robot motion is accompanied by significant vibrations, we faced some problems with these visual SLAM, which resulted in decreasing accuracy of robot trajectory evaluation or even fails in visual odometry, in spite of using a video stabilization filter. The comparative analysis shown that lidar odometry is close to the ground truth, whereas visual odometry can demonstrate signific ant trajectory deviations. (More)

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 34.204.169.76

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Sokolov, M.; Bulichev, O. and Afanasyev, I. (2017). Analysis of ROS-based Visual and Lidar Odometry for a Teleoperated Crawler-type Robot in Indoor Environment.In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 316-321. DOI: 10.5220/0006420603160321

@conference{icinco17,
author={Maxim Sokolov. and Oleg Bulichev. and Ilya Afanasyev.},
title={Analysis of ROS-based Visual and Lidar Odometry for a Teleoperated Crawler-type Robot in Indoor Environment},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={316-321},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006420603160321},
isbn={978-989-758-264-6},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Analysis of ROS-based Visual and Lidar Odometry for a Teleoperated Crawler-type Robot in Indoor Environment
SN - 978-989-758-264-6
AU - Sokolov, M.
AU - Bulichev, O.
AU - Afanasyev, I.
PY - 2017
SP - 316
EP - 321
DO - 10.5220/0006420603160321

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.