<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Simultaneous Localization and Mapping (SLAM) is applied to robots for accurate navigation. The stereo cameras are suitable for visual SLAM as they can give the depth of the visual landmarks and more precise estimations of the robot’s pose. In this paper, we present a survey of SLAM methods, either Bayesian or bioinspired. Then we present a new method of SLAM, which we call stereo Extended Kalman Filter, improving the matching by computing the innovation matrices from the left and the right images. The landmarks are computed from Oriented FAST and Rotated BRIEF (ORB) features for detecting salient points and their descriptors. The covariance matrices of the state and the robot’s map are reduced during the robot’s motion. Experiments are done on the raw images of the Kitti dataset.</p>
</abstract>

Simultaneous Localization and Mapping (SLAM) is applied to robots for accurate navigation. The stereo cameras are suitable for visual SLAM as they can give the depth of the visual landmarks and more precise estimations of the robot’s pose. In this paper, we present a survey of SLAM methods, either Bayesian or bioinspired. Then we present a new method of SLAM, which we call stereo Extended Kalman Filter, improving the matching by computing the innovation matrices from the left and the right images. The landmarks are computed from Oriented FAST and Rotated BRIEF (ORB) features for detecting salient points and their descriptors. The covariance matrices of the state and the robot’s map are reduced during the robot’s motion. Experiments are done on the raw images of the Kitti dataset.

Simultaneous Localization and Mapping of a Mobile Robot With Stereo Camera Using ORB Features

Faculty of Sciences, Mohammed V University in Rabat

Intelligent Processing and Security Systems Team

Faculty of Sciences, Mohammed V University in Rabat, 4

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Simultaneous Localization and Mapping (SLAM) is applied to robots for accurate navigation. The stereo cameras are suitable for visual SLAM as they can give the...

Simultaneous Localization and Mapping of a Mobile Robot With Stereo Camera Using ORB Features

Publié en ligne: 23 juin 2024

Pages: 62 - 71

Reçu: 02 nov. 2022

Accepté: 18 janv. 2023

DOI: https://doi.org/10.14313/jamris/2-2024/14

Mots clés
Simultaneous localization and mapping, stereo cameras, extended Kalman filter, mobile robots, navigation

© 2024 Younès Raoui et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Simultaneous Localization and Mapping of a Mobile Robot With Stereo Camera Using ORB Features

Publié en ligne: 23 juin 2024

Pages: 62 - 71

Reçu: 02 nov. 2022

Accepté: 18 janv. 2023

DOI: https://doi.org/10.14313/jamris/2-2024/14

Mots clésSimultaneous localization and mapping, stereo cameras, extended Kalman filter, mobile robots, navigation

© 2024 Younès Raoui et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
Simultaneous localization and mapping, stereo cameras, extended Kalman filter, mobile robots, navigation