TY - GEN
T1 - Localization with Laser Range Finder in a Metrically Inconsistent Map from Monocular SLAM
AU - Wang, Su
AU - Kobayashi, Yukinori
AU - Ravankar, Abhijeet
AU - Ravankar, Ankit A.
AU - Emaru, Takanori
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - Due to the lack of a fixed baseline between frames, scale drift of the map from a monocular vision-based SLAM system is almost inevitable. It is difficult for a robot with range-based sensors to localize itself on such a metrically inconsistent map. In this paper, we propose a scale-aware localization method, which allows a robot with 2D LRF to achieve the purpose of localizing itself on a map from monocular SLAM. The scales of drifted local maps will also be corrected at the same time. In this work, we firstly present a technique to extract 2D structure from the 3D point cloud established by a monocular camera. And then, by employing an alternative to Particle Filter Localization algorithm, our approach is able to estimate both the poses of the robot and the local scales of the map. Finally, the performance of our approach has been evaluated on a public dataset.
AB - Due to the lack of a fixed baseline between frames, scale drift of the map from a monocular vision-based SLAM system is almost inevitable. It is difficult for a robot with range-based sensors to localize itself on such a metrically inconsistent map. In this paper, we propose a scale-aware localization method, which allows a robot with 2D LRF to achieve the purpose of localizing itself on a map from monocular SLAM. The scales of drifted local maps will also be corrected at the same time. In this work, we firstly present a technique to extract 2D structure from the 3D point cloud established by a monocular camera. And then, by employing an alternative to Particle Filter Localization algorithm, our approach is able to estimate both the poses of the robot and the local scales of the map. Finally, the performance of our approach has been evaluated on a public dataset.
UR - http://www.scopus.com/inward/record.url?scp=85064107431&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85064107431&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2018.8665306
DO - 10.1109/ROBIO.2018.8665306
M3 - Conference contribution
AN - SCOPUS:85064107431
T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
SP - 796
EP - 801
BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Y2 - 12 December 2018 through 15 December 2018
ER -