Visual SLAM-based Localization and Navigation for Service Robots: The Pepper Case
Robotics
2022-07-01 v1 Computer Vision and Pattern Recognition
Abstract
We propose a Visual-SLAM based localization and navigation system for service robots. Our system is built on top of the ORB-SLAM monocular system but extended by the inclusion of wheel odometry in the estimation procedures. As a case study, the proposed system is validated using the Pepper robot, whose short-range LIDARs and RGB-D camera do not allow the robot to self-localize in large environments. The localization system is tested in navigation tasks using Pepper in two different environments: a medium-size laboratory, and a large-size hall.
Cite
@article{arxiv.1811.08414,
title = {Visual SLAM-based Localization and Navigation for Service Robots: The Pepper Case},
author = {Cristopher Gómez and Matías Mattamala and Tim Resink and Javier Ruiz-del-Solar},
journal= {arXiv preprint arXiv:1811.08414},
year = {2022}
}
Comments
12 pages, 6 figures. Presented in RoboCup Symposium 2018. Final version will appear in Springer