A Novel Approach for Lidar-Based Robot Localization in a Scale-Drifted Map Constructed Using Monocular SLAM

A Novel Approach for Lidar-Based Robot Localization in a Scale-Drifted Map Constructed Using Monocular SLAM

Scale ambiguity and drift are inherent drawbacks of a pure-visual monocular simultaneous localization and mapping (SLAM) system. This problem could be a crucial challenge for other robots with range sensors to perform localization in a map previously built by a monocular camera. In this paper, a met...

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Bibliographic Details
Main Authors: Su Wang, Yukinori Kobayashi, Ankit A. Ravankar, Abhijeet Ravankar, Takanori Emaru
Format: Article
Language:English
Published: MDPI AG 2019-05-01
Series:Sensors
Subjects:
monocular SLAM
localization
scale drift
state estimation
heterogeneous robot system
Online Access:https://www.mdpi.com/1424-8220/19/10/2230

Internet

https://www.mdpi.com/1424-8220/19/10/2230

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