Publication detail

Fusing the RGBD SLAM with Wheel Odometry

LIGOCKI, A. JELÍNEK, A.

Original Title

Fusing the RGBD SLAM with Wheel Odometry

Type

article in a collection out of WoS and Scopus

Language

English

Original Abstract

This paper deals with data fusion of existing visual SLAM algorithm and wheel odometry. The result of this connection is the possibility of suppressing measurement error of each position estimation method and creating more accurate 3D model of the examined environment. We have made a brief review of existing visual SLAM projects that are available in open-source domain and as the best option we have choose the Elastic Fusion project and we enriched the existing localization pipeline with another data source that is realized by our high-precision odometry vehicle frame. The modified technique has been validated on three different scenarios. The result is the more robust SLAM algorithm and better precision 3D model of sensed environment compared to original one.

Keywords

RGBD camera, SLAM, Kinect, Odometry, Data fusion, Dead reckoning, 3D map, Dynamic mapping

Authors

LIGOCKI, A.; JELÍNEK, A.

Released

28. 10. 2019

ISBN

1757899X

Book

PDeS sborník

Pages from

7

Pages to

12

Pages count

6

URL

https://www.sciencedirect.com/science/article/pii/S2405896319326734

BibTex

@inproceedings{BUT159593,
  author="Adam {Ligocki} and Aleš {Jelínek}",
  title="Fusing the RGBD SLAM with Wheel Odometry",
  booktitle="PDeS sborník",
  year="2019",
  pages="7--12",
  doi="10.1016/j.ifacol.2019.12.724",
  isbn="1757899X",
  url="https://www.sciencedirect.com/science/article/pii/S2405896319326734"
}