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Autonomous Localization and Mapping for Mobile Robot Based on ORB-SLAM

  • Hongwei Mo
  • Xiaosen Chen
  • Kai Wang
  • Haoran Wang
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)

Abstract

We aim to realize autonomous localization and mapping for mobile robot while no prior knowledge of its environment provided, based on one of the state-of-the-art SLAM algorithm called ORB-SLAM. A local 3D point cloud map is constructed, through the depth information acquired from RGB-D sensor and corresponding camera poses estimated from ORB-SLAM, which is then transformed to a 2D occupancy grid map using octree. Based on the 2D map, an information-theoretic exploration algorithm is used to travel through all the environment. Finally, experiments are carried out in a mobile robot.

Keywords

Autonomous exploration Mobile robot ORB-SLAM 

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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Hongwei Mo
    • 1
  • Xiaosen Chen
    • 1
  • Kai Wang
    • 1
  • Haoran Wang
    • 1
  1. 1.School of AutomationHarbin Engineering UniversityHarbinChina

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