RESEARCH OF VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING-BASED NAVIGATION SYSTEM FOR MOBILE ROBOTS
Subject of Research. The paper considers navigation system for mobile robots by building a map of the environment using Simultaneous Localization and Mapping algorithm and converting the 3D map collected by INTEL Realsense Depth camera into a 2D-cost map. Method. Real-Time Appearance-Based Mapping w...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)
2020-07-01
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| Series: | Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki |
| Subjects: | |
| Online Access: | https://ntv.ifmo.ru/file/article/19635.pdf |
| _version_ | 1818152547339206656 |
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| author | Walaa Othman Vladislav S. Gromov |
| author_facet | Walaa Othman Vladislav S. Gromov |
| author_sort | Walaa Othman |
| collection | DOAJ |
| description | Subject of Research. The paper considers navigation system for mobile robots by building a map of the environment using Simultaneous Localization and Mapping algorithm and converting the 3D map collected by INTEL Realsense Depth camera into a 2D-cost map. Method. Real-Time Appearance-Based Mapping was used for building a virtual 3D map of the environment. A binary map was obtained by projecting the 3D map on a plane. The D* algorithm was applied on the binary map for planning a global path to the goal. The Dynamic-Window Approach was used as a local planner.
Main Results. A point cloud of the environment was created and converted to a 2D map. A robot was safely navigated to the desired location. Practical Relevance. The proposed approach is fast and reliable and can be used for indoor navigation (factories and companies). Since the map needs to be designed only once, the calculation can be handled by CPU without any need for graphics processing unit. |
| first_indexed | 2024-12-11T13:56:27Z |
| format | Article |
| id | doaj.art-8f4e59751b6c49e9b01b7b153848ef06 |
| institution | Directory Open Access Journal |
| issn | 2226-1494 2500-0373 |
| language | English |
| last_indexed | 2024-12-11T13:56:27Z |
| publishDate | 2020-07-01 |
| publisher | Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University) |
| record_format | Article |
| series | Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki |
| spelling | doaj.art-8f4e59751b6c49e9b01b7b153848ef062022-12-22T01:04:01ZengSaint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki2226-14942500-03732020-07-0120337137610.17586/2226-1494-2020-20-3-371-376RESEARCH OF VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING-BASED NAVIGATION SYSTEM FOR MOBILE ROBOTSWalaa Othman0https://orcid.org/0000-0002-8581-1333Vladislav S. Gromov1https://orcid.org/0000-0002-2416-3766Student, ITMO University, Saint Petersburg, 197101, Russian FederationPhD, Associate Professor, ITMO University, Saint Petersburg, 197101, Russian FederationSubject of Research. The paper considers navigation system for mobile robots by building a map of the environment using Simultaneous Localization and Mapping algorithm and converting the 3D map collected by INTEL Realsense Depth camera into a 2D-cost map. Method. Real-Time Appearance-Based Mapping was used for building a virtual 3D map of the environment. A binary map was obtained by projecting the 3D map on a plane. The D* algorithm was applied on the binary map for planning a global path to the goal. The Dynamic-Window Approach was used as a local planner. Main Results. A point cloud of the environment was created and converted to a 2D map. A robot was safely navigated to the desired location. Practical Relevance. The proposed approach is fast and reliable and can be used for indoor navigation (factories and companies). Since the map needs to be designed only once, the calculation can be handled by CPU without any need for graphics processing unit.https://ntv.ifmo.ru/file/article/19635.pdfnavigationpath planningrtab-mapslam |
| spellingShingle | Walaa Othman Vladislav S. Gromov RESEARCH OF VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING-BASED NAVIGATION SYSTEM FOR MOBILE ROBOTS Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki navigation path planning rtab-map slam |
| title | RESEARCH OF VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING-BASED NAVIGATION SYSTEM FOR MOBILE ROBOTS |
| title_full | RESEARCH OF VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING-BASED NAVIGATION SYSTEM FOR MOBILE ROBOTS |
| title_fullStr | RESEARCH OF VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING-BASED NAVIGATION SYSTEM FOR MOBILE ROBOTS |
| title_full_unstemmed | RESEARCH OF VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING-BASED NAVIGATION SYSTEM FOR MOBILE ROBOTS |
| title_short | RESEARCH OF VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING-BASED NAVIGATION SYSTEM FOR MOBILE ROBOTS |
| title_sort | research of visual simultaneous localization and mapping based navigation system for mobile robots |
| topic | navigation path planning rtab-map slam |
| url | https://ntv.ifmo.ru/file/article/19635.pdf |
| work_keys_str_mv | AT walaaothman researchofvisualsimultaneouslocalizationandmappingbasednavigationsystemformobilerobots AT vladislavsgromov researchofvisualsimultaneouslocalizationandmappingbasednavigationsystemformobilerobots |