A Simultaneous Localization and Mapping (SLAM) Framework for 2.5D Map Building Based on Low-Cost LiDAR and Vision Fusion
Source abstract
Abstract
The method of simultaneous localization and mapping (SLAM) using a light detection and ranging (LiDAR) sensor is commonly adopted for robot navigation. However, consumer robots are price sensitive and often have to use low-cost sensors. Due to the poor performance of a low-cost LiDAR, error accumulates rapidly while SLAM, and it may cause a huge error for building a larger map. To cope with this problem, this paper proposes a new graph optimization-based SLAM framework through the combination of low-cost LiDAR sensor and vision sensor. In the SLAM framework, a new cost-function considering both scan and image data is proposed, and the Bag of Words (BoW) model with visual features is applied for loop close detection. A 2.5D map presenting both obstacles and vision features is also proposed, as well as a fast relocation method with the map. Experiments were taken on a service robot equipped with a 360° low-cost LiDAR and a front-view RGB-D camera in the real indoor scene. The results show that the proposed method has better performance than using LiDAR or camera only, while the relocation speed with our 2.5D map is much faster than with traditional grid map.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotics and Sensor-Based Localization · Robotic Path Planning Algorithms · Indoor and Outdoor Localization Technologies
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen 518055, China
Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
The CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
Funding
the National High-Tech Research and Development Program of China · the National Natural Science Foundation of China · the Shenzhen Overseas Innovation and Entrepreneurship Research Program · the Shenzhen Fundamental Research Program
References (34)
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