Results 1 to 10 of about 13,782 (194)

Navegación autónoma de un robot móvil usando ORB-SLAM2

Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI, 2023
Este trabajo presenta la implementación de un sistema de navegación autónoma para un robot móvil diferencial, que combina la técnica de Localización y Mapeo Simultáneos, Simultaneous Localization and Mapping (SLAM, por sus siglas en inglés) ORB-SLAM2 con una cámara RGB-D, utilizando el algoritmo BUG0 para la evasión de obstáculos integrado en la ...
Rodolfo de Jesús Villalobos-Salazar, Mario Castelán, Pablo Alonso Ochoa-Salinas, América Berenice Morales-Díaz   +3 more
semanticscholar   +3 more sources

Rapid Relocation Method for Mobile Robot Based on Improved ORB-SLAM2 Algorithm

Remote Sensing, 2019
In order to realize fast real-time positioning after a mobile robot starts, this paper proposes an improved ORB-SLAM2 algorithm. Firstly, we proposed a binary vocabulary storage method and vocabulary training algorithm based on an improved Oriented FAST ...
Guanci Yang, Zhanjie Chen, Yang Li, Zhidong Su   +3 more
doaj   +2 more sources

ISFM-SLAM: dynamic visual SLAM with instance segmentation and feature matching [PDF]

Frontiers in Neurorobotics
IntroductionSimultaneous Localization and Mapping (SLAM) is a technology used in intelligent systems such as robots and autonomous vehicles. Visual SLAM has become a more popular type of SLAM due to its acceptable cost and good scalability when applied ...
Chao Li, Yang Hu, Jianqiang Liu, Jianhai Jin, Jun Sun   +4 more
doaj   +2 more sources

GMS-RANSAC: A Fast Algorithm for Removing Mismatches Based on ORB-SLAM2

Symmetry, 2022
This paper presents a new method of removing mismatches of redundant points based on oriented fast and rotated brief (ORB) in vision simultaneous localization and mapping (SLAM) systems. On the one hand, the grid-based motion statistics (GMS) algorithm reduces the processing time of key frames with more feature points and greatly increases the ...
Daode Zhang, Jinlun Zhu, Fusheng Wang, Xinyu Hu, Xuhui Ye   +4 more
openaire   +2 more sources

Improving Visual SLAM by Combining SVO and ORB-SLAM2 with a Complementary Filter to Enhance Indoor Mini-Drone Localization under Varying Conditions

Drones, 2023
Mini-drones can be used for a variety of tasks, ranging from weather monitoring to package delivery, search and rescue, and also recreation. In outdoor scenarios, they leverage Global Positioning Systems (GPS) and/or similar systems for localization in ...
Amin Basiri, Valerio Mariani, Luigi Glielmo   +2 more
doaj   +2 more sources

Enhanced Simultaneous Localization and Mapping Algorithm Based on Deep Learning for Highly Dynamic Environment [PDF]

Sensors
Visual simultaneous localization and mapping (SLAM) is a critical technology for autonomous navigation in dynamic environments. However, traditional SLAM algorithms often struggle to maintain accuracy in highly dynamic environments, where elements ...
Yin Lu, Haibo Wang, Jin Sun, J. Andrew Zhang   +3 more
doaj   +2 more sources

ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras [PDF]

IEEE Transactions on Robotics, 2017
We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from small hand-held indoors sequences, to drones flying in industrial environments and cars driving around a city.
Mur-Artal, Raul, Tardos, Juan D.
openaire   +4 more sources

Benchmark of Visual SLAM Algorithms: ORB-SLAM2 vs RTAB-Map [PDF]

2019 Eighth International Conference on Emerging Security Technologies (EST), 2019
This works deals with a benchmark of two wellknown visual Simultaneous Localization and Mapping (vSLAM) algorithms: ORB-SLAM2 proposed by Mur-Atal & al in 2015 [7] and RTAB-Map proposed by [8]. The benchmark has been carried out with an Intel real-sense camera 435D mounted on top of a robotics electrical powered wheelchair running a ROS platform.
Ragot, Nicolas, Khemmar, Redouane, Pokala, Adithya, Rossi, Romain, Ertaud, Jean-Yves   +4 more
openaire   +3 more sources

Improved ORB-SLAM2 Mobile Robot Vision Algorithm Based on Multiple Feature Fusion

IEEE Access, 2023
Traditional wheeled robot vision algorithms suffer from low texture tracking failures. Therefore, this study proposes a vision improvement algorithm for mobile robots in view of multi feature fusion; This algorithm introduces line surface features and Manhattan Frame on the basis of traditional algorithms, and proposes an improved algorithm in view of ...
Xiaomei Hu, Luying Zhu, Ping Wang, Haili Yang, Xuan Li   +4 more
openaire   +3 more sources

SGDO-SLAM: A Semantic RGB-D SLAM System with Coarse-to-Fine Dynamic Rejection and Static Weighted Optimization [PDF]

Sensors
Vision sensor-based simultaneous localization and mapping (SLAM) systems are essential for mobile robots to locate and generate spatial models of their surroundings.
Qiming Hu, Shuwen Wang, Nanxing Chen, Wei Li, Jiayu Yuan, Enhui Zheng, Guirong Wang, Weimin Chen   +7 more
doaj   +2 more sources