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Proceedings Paper

Comparative analysis of ROS-based monocular SLAM methods for indoor navigation
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Paper Abstract

This paper presents a comparison of four most recent ROS-based monocular SLAM-related methods: ORB-SLAM, REMODE, LSD-SLAM, and DPPTAM, and analyzes their feasibility for a mobile robot application in indoor environment. We tested these methods using video data that was recorded from a conventional wide-angle full HD webcam with a rolling shutter. The camera was mounted on a human-operated prototype of an unmanned ground vehicle, which followed a closed-loop trajectory. Both feature-based methods (ORB-SLAM, REMODE) and direct SLAMrelated algorithms (LSD-SLAM, DPPTAM) demonstrated reasonably good results in detection of volumetric objects, corners, obstacles and other local features. However, we met difficulties with recovering typical for offices homogeneously colored walls, since all of these methods created empty spaces in a reconstructed sparse 3D scene. This may cause collisions of an autonomously guided robot with unfeatured walls and thus limits applicability of maps, which are obtained by the considered monocular SLAM-related methods for indoor robot navigation.

Paper Details

Date Published: 17 March 2017
PDF: 6 pages
Proc. SPIE 10341, Ninth International Conference on Machine Vision (ICMV 2016), 103411K (17 March 2017); doi: 10.1117/12.2268809
Show Author Affiliations
Alexander Buyval, Bryansk State Technical Univ. (Russian Federation)
Ilya Afanasyev, Innopolis Univ. (Russian Federation)
Evgeni Magid, Kazan Federal Univ. (Russian Federation)

Published in SPIE Proceedings Vol. 10341:
Ninth International Conference on Machine Vision (ICMV 2016)
Antanas Verikas; Petia Radeva; Dmitry P. Nikolaev; Wei Zhang; Jianhong Zhou, Editor(s)

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