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Authors: Maxim Sokolov ; Oleg Bulichev and Ilya Afanasyev

Affiliation: Innopolis University, Russian Federation

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 signifi cant trajectory deviations. (More)

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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; ISSN 2184-2809, SciTePress, 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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Sokolov, M.
AU - Bulichev, O.
AU - Afanasyev, I.
PY - 2017
SP - 316
EP - 321
DO - 10.5220/0006420603160321
PB - SciTePress