JRM Vol.28 No.4 pp. 479-490
doi: 10.20965/jrm.2016.p0479


Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge

Adi Sujiwo, Tomohito Ando, Eijiro Takeuchi, Yoshiki Ninomiya, and Masato Edahiro

Nagoya University
609 National Innovation Complex (NIC), Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan

February 23, 2016
June 2, 2016
August 20, 2016
visual localization, autonomous vehicle, field robotics, Tsukuba Challenge

Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge

Monocular Visual Localization in Tsukuba Challenge 2015. Left: result of localization inside the map created by ORB-SLAM. Right: position tracking at starting point.

For the 2015 Tsukuba Challenge, we realized an implementation of vision-based localization based on ORB-SLAM. Our method combined mapping based on ORB-SLAM and Velodyne LIDAR SLAM, and utilized these maps in a localization process using only a monocular camera. We also apply sensor fusion method of odometer and ORB-SLAM from all maps. The combined method delivered better accuracy than the original ORB-SLAM, which suffered from scale ambiguities and map distance distortion. This paper reports on our experience when using ORB-SLAM for visual localization, and describes the difficulties encountered.

Cite this article as:
A. Sujiwo, T. Ando, E. Takeuchi, Y. Ninomiya, and M. Edahiro, “Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge,” J. Robot. Mechatron., Vol.28, No.4, pp. 479-490, 2016.
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