Otwarty dostęp

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


Zacytuj

Ambrus, R., Claici, S., Wendt, A.: Automatic room segmentation from unstructured 3-d data of indoor environments. IEEE Robotics and Automation Letters 2, 749–756 (2017) Search in Google Scholar

Ball, D., Heath, S., Wiles, J., Wyeth, G., Corke, P., Milford, M.: Openratslam: an open source brainbased slam system. Autonomous Robots 34, 1–28 (04 2013). doi: 10.1007/s10514-012-9317-9 Search in Google Scholar

Banino, A., Barry, C., Uria, B., Blundell, C., Lillicrap, T., Mirowski, P., Pritzel, A., Chadwick, M.J., Degris, T., Modayil, J., Wayne, G., Soyer, H., Viola, F., Zhang, B., Goroshin, R., Rabinowitz, N.C., Pascanu, R., Beattie, C., Petersen, S., Sadik, A., Gaffney, S., King, H., Kavukcuoglu, K., Hassabis, D., Hadsell, R., Kumaran, D.: Vector-based navigation using grid-like representations in artificial agents. Nature 557, 429–433 (2018) Search in Google Scholar

Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I.D., Leonard, J.J.: Simultaneous localization and mapping: Present, future, and the robust-perception age. CoRR abs/1606.05830 (2016), http://arxiv.org/abs/1606.05830 Search in Google Scholar

Campos, C., Elvira, R., Rodríguez, J.J.G., Montiel, J.M.M., Tardós, J.D.: Orb-slam3: An accurate open-source library for visual, visual-inertial and multi-map slam (2020) Search in Google Scholar

Davison, A., Reid, I., Molton, N., Stasse, O.: Monoslam: Real-time single camera slam. IEEE Transactions on Pattern Analysis and Machine Intelligence 29, 1052–1067 (2007) Search in Google Scholar

Doherty, K., Baxter, D., Schneeweiss, E., Leonard, J.: Probabilistic data association via mixture models for robust semantic slam. 2020 IEEE International Conference on Robotics and Automation (ICRA) pp. 1098–1104 (2020) Search in Google Scholar

Doherty, K., Fourie, D., Leonard, J.: Multimodal semantic slam with probabilistic data association. 2019 International Conference on Robotics and Automation (ICRA) pp. 2419–2425 (2019) Search in Google Scholar

Finman, R., Paull, L., Leonard, J.: Toward object-based place recognition in dense rgb-d maps. 2015 IEEE International Conference on Robotics and Automation (ICRA) (2015) Search in Google Scholar

Gálvez-López, D., Tardós, J.D.: Bags of binary words for fast place recognition in image sequences. IEEE Transactions on Robotics 28, 1188–1197 (2012) Search in Google Scholar

Høydal, Ã., Skytøen, E., Andersson, S., Moser, M.B., Moser, E.: Object-vector coding in the medial entorhinal cortex. Nature 568, 1–8 (04 2019). doi: 10.1038/s41586-019-1077-7 Search in Google Scholar

Kiggundu, A., Weber, C., Wermter, S.: A compressing auto-encoder as a developmental model of grid cells (02 2017) Search in Google Scholar

Lowry, S.M., Sünderhauf, N., Newman, P., Leonard, J.J., Cox, D.D., Corke, P.I., Milford, M.J.: Visual place recognition: A survey. IEEE Trans. Robotics 32(1), 1–19 (2016). doi: 10.1109/TRO.2015.2496823. Search in Google Scholar

Masone, C., Caputo, B.: A survey on deep visual place recognition. IEEE Access 9, 19516–19547 (2021). doi: 10.1109/ACCESS.2021.3054937, Search in Google Scholar

Montiel, J., Civera, J., Davison, A.: Unified inverse depth parametrization for monocular slam. In: Robotics: Science and Systems (2006) Search in Google Scholar

Mur-Artal, R., Tardós, J.D.: Orb-slam2: An opensource slam system for monocular, stereo, and rgb-d cameras. IEEE Transactions on Robotics 33, 1255–1262 (2017) Search in Google Scholar

Pillai, S., Leonard, J.J.: Self-supervised visual place recognition learning in mobile robots. CoRR abs/1905.04453 (2019), http://arxiv.org/abs/1905.04453 Search in Google Scholar

Raoui, Y., Göller, M., Devy, M., Kerscher, T., Zöllner, J.M., Dillmann, R., Coustou, A.: Rfidbased topological and metrical self-localization in a structured environment. 2009 International Conference on Advanced Robotics pp. 1–6 (2009) Search in Google Scholar

Raoui, Y., Weber, C., Wermter, S.: Neoslam: Neural object slam for loop closure and navigation. In: Artificial Neural Networks and Machine Learning - ICANN 2022 - 31th International Conference on Artifiicial Neural Networks, Bristol, England, September 6-9, 2022, Proceedings, Part II (2022) Search in Google Scholar

Rolls, E., Stringer, S., Elliot, T.: Entorhinal cortex grid cells can map to hippocampal place cells by competitive learning. Network: Computation in Neural Systems 17, 447–465 (2006) Search in Google Scholar

Rublee, E., Rabaud, V., Konolige, K., Bradski, G.: Orb: An efficient alternative to sift or surf. In: 2011 International Conference on Computer Vision. pp. 2564–2571 (2011). doi: 10.1109/ICCV.2011.6126544 Search in Google Scholar

Shan, T., Englot, B., Meyers, D., Wang, W., Ratti, C., Rus, D.: Lio-sam: Tightly-coupled lidar inertial odometry via smoothing and mapping (2020) Search in Google Scholar

Shan, T., Englot, B.J., Duarte, F., Ratti, C., Rus, D.: Robust place recognition using an imaging lidar. CoRR abs/2103.02111 (2021), https://arxiv.org/abs/2103.02111 Search in Google Scholar

Tourani, S., Desai, D., Parihar, U.S., Garg, S., Sarvadevabhatla, R.K., Krishna, K.M.: Early bird: Loop closures from opposing viewpoints for perceptually-aliased indoor environments. CoRR abs/2010.01421 (2020), https://arxiv.org/abs/2010.01421 Search in Google Scholar

Volkov, M., Rosman, G., Feldman, D., III, J.W.F., Rus, D.: Coresets for visual summarization with applications to loop closure. In: IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015. pp. 3638–3645. IEEE (2015). doi: 10.1109/ICRA.2015.7139704. Search in Google Scholar

Xiao, L., Wang, J., Qiu, X., Rong, Z., Zou, X.: Dynamic-slam: Semantic monocular visual localization and mapping based on deep learning in dynamic environment. Robotics Auton. Syst. 117, 1–16 (2019) Search in Google Scholar

Yongbao, A., Ting, R., Xiao-qiang, Y., Jia-lin, H., Lei, F., Jianbin, L., Ming, L.: Visual slam in dynamic environments based on object detection. Defence Technology (2020) Search in Google Scholar

Yu, F., Shang, J., Hu, Y., Milford, M.: Neuroslam: a brain-inspired slam system for 3d environments. Biological Cybernetics 113(5-6), 515–545 (December 2019). doi: 10.1007/s00422-019-00806-9, https://eprints.qut.edu.au/198104/ Search in Google Scholar

Zhou, X., Weber, C., Wermter, S.: Robot localization and orientation detection based on place cells and head-direction cells. In: Lintas, A., Rovetta, S., Verschure, P.F.M.J., Villa, A.E.P. (eds.) Artificial Neural Networks and Machine Learning - ICANN 2017 - 26th International Conference on Artificial Neural Networks, Alghero, Italy, September 11-14,2017, Proceedings, Part I. Lecture Notes in Computer Science, vol. 10613, pp. 137–145. Springer (2017). doi: 10.1007/978-3-319-68600-4_17. Search in Google Scholar