Development of Embedded Algorithm for Visual Simultaneous Localization and Mapping
Resumo
The Simultaneous Localization and Mapping (SLAM) problem is recurrent in today's robotics. One challenge of it is the extensive computational cost to create complex maps in real-time. Various applications, mainly search and rescue operate in GPS denied scenarios, with possible difficulty communicating with an external base. A portable SLAM system capable of being run in a microcomputer would greatly help such operations. This paper mentions the unfinished into this topic and discusses further steps that shall be taken in the upcoming months.
Palavras-chave:
SLAM, visual-SLAM, robotics, Embedded Application, Real-Time SLAM
Referências
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S. Thrun, W. Burgard, D. Fox, and R. Arkin, Probabilistic Robotics, ser. Intelligent Robotics and Autonomous Agents series. MIT Press, 2005.
H. Durrant-Whyte and T. Bailey, “Simultaneous localization and mapping: part i,” IEEE Robotics Automation Magazine, vol. 13, no. 2, pp. 99–110, June 2006. https://doi.org/10.1109/mra.2006.1638022
M. Filipenko and I. Afanasyev, “Comparison of various slam systems for mobile robot in an indoor environment,” in 2018 International Conference on Intelligent Systems (IS), Sep. 2018, pp. 400–407. https://doi.org/10.1109/is.2018.8710464
R. Mur-Artal, J. M. M. Montiel, and J. D. Tards, “Orb-slam: A versatile and accurate monocular slam system,” IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147–1163, Oct 2015. https://doi.org/10.1109/tro.2015.2463671
M. Labb and F. Michaud, “Online global loop closure detection for large-scale multi-session graph-based slam,” in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep. 2014, pp. 2661– 2666. https://doi.org/10.1109/iros.2014.6942926
D. Scaramuzza and F. Fraundorfer, “Visual odometry [tutorial],” IEEE Robotics Automation Magazine, vol. 18, no. 4, pp. 80–92, Dec 2011. https://doi.org/10.1109/mra.2011.943233
L. Clemente, A. Davison, I. Reid, J. Neira, and J. Tards, “Mapping large loops with a single hand-held camera,” in Proceedings of Robotics: Science and Systems, Atlanta, GA, USA, June 2007. https://doi.org/10.15607/rss.2007.iii.038
Chaolei Wang, Tianmiao Wang, Jianhong Liang, Yang Chen, and Yongliang Wu, “Monocular vision and imu based navigation for a small unmanned helicopter,” in 2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA), July 2012, pp. 1694–1699. https://doi.org/10.1109/iciea.2012.6360998
R. Mur-Artal, J. M. M. Montiel, and J. D. Tards, “Orb-slam: A versatile and accurate monocular slam system,” IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147–1163, Oct 2015. https://doi.org/10.1109/tro.2015.2463671
R. Mur-Artal and J. D. Tards, “Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras,” IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1255–1262, Oct 2017. https://doi.org/10.1109/tro.2017.2705103
E. Rublee, V. Rabaud, K. Konolige, and G. Bradski, “Orb: An efficient alternative to sift or surf,” in 2011 International Conference on Computer Vision, Nov 2011, pp. 2564–2571. https://doi.org/10.1109/iccv.2011.6126544
S. A. K. Tareen and Z. Saleem, “A comparative analysis of sift, surf, kaze, akaze, orb, and brisk,” in 2018 International Conference on Computing, Mathematics and Engineering Technologies (iCoMET), March 2018, pp. 1–10. https://doi.org/10.1109/icomet.2018.8346440
M. Burri, J. Nikolic, P. Gohl, T. Schneider, J. Rehder, S. Omari, M. W. Achtelik, and R. Siegwart, “The euroc micro aerial vehicle datasets,” The International Journal of Robotics Research, 2016. [Online]. Available: http://ijr.sagepub.com/content/early/2016/01/ 21/0278364915620033.abstract
G. Bradski, “The OpenCV Library,” Dr. Dobb’s Journal of Software Tools, 2000. https://opencv.org/
S. Thrun, W. Burgard, D. Fox, and R. Arkin, Probabilistic Robotics, ser. Intelligent Robotics and Autonomous Agents series. MIT Press, 2005.
H. Durrant-Whyte and T. Bailey, “Simultaneous localization and mapping: part i,” IEEE Robotics Automation Magazine, vol. 13, no. 2, pp. 99–110, June 2006. https://doi.org/10.1109/mra.2006.1638022
M. Filipenko and I. Afanasyev, “Comparison of various slam systems for mobile robot in an indoor environment,” in 2018 International Conference on Intelligent Systems (IS), Sep. 2018, pp. 400–407. https://doi.org/10.1109/is.2018.8710464
R. Mur-Artal, J. M. M. Montiel, and J. D. Tards, “Orb-slam: A versatile and accurate monocular slam system,” IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147–1163, Oct 2015. https://doi.org/10.1109/tro.2015.2463671
M. Labb and F. Michaud, “Online global loop closure detection for large-scale multi-session graph-based slam,” in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep. 2014, pp. 2661– 2666. https://doi.org/10.1109/iros.2014.6942926
D. Scaramuzza and F. Fraundorfer, “Visual odometry [tutorial],” IEEE Robotics Automation Magazine, vol. 18, no. 4, pp. 80–92, Dec 2011. https://doi.org/10.1109/mra.2011.943233
L. Clemente, A. Davison, I. Reid, J. Neira, and J. Tards, “Mapping large loops with a single hand-held camera,” in Proceedings of Robotics: Science and Systems, Atlanta, GA, USA, June 2007. https://doi.org/10.15607/rss.2007.iii.038
Chaolei Wang, Tianmiao Wang, Jianhong Liang, Yang Chen, and Yongliang Wu, “Monocular vision and imu based navigation for a small unmanned helicopter,” in 2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA), July 2012, pp. 1694–1699. https://doi.org/10.1109/iciea.2012.6360998
R. Mur-Artal, J. M. M. Montiel, and J. D. Tards, “Orb-slam: A versatile and accurate monocular slam system,” IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147–1163, Oct 2015. https://doi.org/10.1109/tro.2015.2463671
R. Mur-Artal and J. D. Tards, “Orb-slam2: An open-source slam system for monocular, stereo, and rgb-d cameras,” IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1255–1262, Oct 2017. https://doi.org/10.1109/tro.2017.2705103
E. Rublee, V. Rabaud, K. Konolige, and G. Bradski, “Orb: An efficient alternative to sift or surf,” in 2011 International Conference on Computer Vision, Nov 2011, pp. 2564–2571. https://doi.org/10.1109/iccv.2011.6126544
S. A. K. Tareen and Z. Saleem, “A comparative analysis of sift, surf, kaze, akaze, orb, and brisk,” in 2018 International Conference on Computing, Mathematics and Engineering Technologies (iCoMET), March 2018, pp. 1–10. https://doi.org/10.1109/icomet.2018.8346440
M. Burri, J. Nikolic, P. Gohl, T. Schneider, J. Rehder, S. Omari, M. W. Achtelik, and R. Siegwart, “The euroc micro aerial vehicle datasets,” The International Journal of Robotics Research, 2016. [Online]. Available: http://ijr.sagepub.com/content/early/2016/01/ 21/0278364915620033.abstract
G. Bradski, “The OpenCV Library,” Dr. Dobb’s Journal of Software Tools, 2000. https://opencv.org/
Publicado
28/10/2019
Como Citar
ROSA, Paulo; SILVEIRA, Onias; DE MELO, João; MOREIRA, Leandro; RODRIGUES, Luiz.
Development of Embedded Algorithm for Visual Simultaneous Localization and Mapping. In: WORKSHOP DE TRABALHOS EM ANDAMENTO - CONFERENCE ON GRAPHICS, PATTERNS AND IMAGES (SIBGRAPI), 32. , 2019, Rio de Janeiro.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2019
.
p. 160-163.
DOI: https://doi.org/10.5753/sibgrapi.est.2019.8319.
