KFU. Card publication. Comparative analysis of ROS-based monocular SLAM methods for indoor navigation

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COMPARATIVE ANALYSIS OF ROS-BASED MONOCULAR SLAM METHODS FOR INDOOR NAVIGATION

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2017

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Authors, employees of KFU

Afanasev Ilya Mikhaylovich, author

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Buyval A., Afanasyev I., Magid E. Comparative analysis of ROS-based monocular SLAM methods for indoor navigation // Ninth International Conference on Machine Vision (Nice, France; 18-20 November 2016) - p. 103411K-103411K-6.

Annotation

Proceedings of SPIE - The International Society for Optical Engineering

Keywords

Monocular SLAM, localization and mapping, ROS, indoor navigation

The name of the journal

Proceedings of SPIE - The International Society for Optical Engineering

URL

https://www.spiedigitallibrary.org/conference-proceedings-of-spie/10341/103411K/Comparative-analysis-of-ROS-based-monocular-SLAM-methods-for-indoor/10.1117/12.2268809.full?SSO=1

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257529&p_lang=2

Resource files

File name	Size (MB)	Format
F_2017_Comparative_analysis_of_ROS_based_monocular_SLAM_methods_for_indoor_navigation.pdf	0,49	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Afanasev Ilya Mikhaylovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2017-01-01T00:00:00Z	ru_RU
dc.date.available	2017-01-01T00:00:00Z	ru_RU
dc.date.issued	2017	ru_RU
dc.identifier.citation	Buyval A., Afanasyev I., Magid E. Comparative analysis of ROS-based monocular SLAM methods for indoor navigation // Ninth International Conference on Machine Vision (Nice, France; 18-20 November 2016) - p. 103411K-103411K-6.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257529&p_lang=2	ru_RU
dc.description.abstract	Proceedings of SPIE - The International Society for Optical Engineering	ru_RU
dc.description.abstract	This paper presents a comparison of four most recent ROS-based monocular SLAM-related methods: ORB-SLAM, REMODE, LSD-SLAM, and DPPTAM, and analyzes their feasibility for a mobile robot application in indoor environment. We tested these methods using video data that was recorded from a conventional wide-angle full HD webcam with a rolling shutter. The camera was mounted on a human-operated prototype of an unmanned ground vehicle, which followed a closed-loop trajectory. Both feature-based methods (ORB-SLAM, REMODE) and direct SLAM-related algorithms (LSD-SLAM, DPPTAM) demonstrated reasonably good results in detection of volumetric objects, corners, obstacles and other local features. However, we met difficulties with recovering typical for offices homogeneously colored walls, since all of these methods created empty spaces in a reconstructed sparse 3D scene. This may cause collisions of an autonomously guided robot with unfeatured walls and thus limits applicability of maps, which are obtained by the considered monocular SLAM-related methods for indoor robot navigation.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Monocular SLAM	ru_RU
dc.subject	localization and mapping	ru_RU
dc.subject	ROS	ru_RU
dc.subject	indoor navigation	ru_RU
dc.title	Comparative analysis of ROS-based monocular SLAM methods for indoor navigation	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU