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In this paper, we present a novel tightly-coupled probabilistic monocular visual-odometric Simultaneous Localization and Mapping algorithm using wheels and a MEMS gyroscope, which can provide accurate, robust and long-term localization for…

The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…

The basis for most vision based applications like robotics, self-driving cars and potentially augmented and virtual reality is a robust, continuous estimation of the position and orientation of a camera system w.r.t the observed environment…

Safe navigation with simultaneous localization and mapping (SLAM) for autonomous robots is crucial in challenging environments. To achieve this goal, detecting moving objects in the surroundings and building a static map are essential.…

We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…

Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…

We propose a neurobiologically inspired visual simultaneous localization and mapping (SLAM) system based on direction sparse method to real-time build cognitive maps of large-scale environments from a moving stereo camera. The core SLAM…

While powered wheelchairs reduce physical fatigue as opposed to manual wheelchairs for individuals with mobility impairment, they demand high cognitive workload due to information processing, decision making and motor coordination. Current…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…

In Asia, many individuals with disabilities rely on wheelchairs for mobility. However, some people, such as those who are fully disabled or paralyzed, cannot use traditional wheelchairs despite having fully functioning cognitive abilities.…

Simultaneous Localization and Mapping (SLAM) and Multi-Object Tracking (MOT) are pivotal tasks in the realm of autonomous driving, attracting considerable research attention. While SLAM endeavors to generate real-time maps and determine the…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

At modern construction sites, utilizing GNSS (Global Navigation Satellite System) to measure the real-time location and orientation (i.e. pose) of construction machines and navigate them is very common. However, GNSS is not always…

This article presents a comparative analysis of a mobile robot trajectories computed by various ROS-based SLAM systems. For this reason we developed a prototype of a mobile robot with common sensors: 2D lidar, a monocular and ZED stereo…

This paper suggests a 2D exploration strategy for a planar space cluttered with obstacles. Rather than using point robots capable of adjusting their position and altitude instantly, this research is tailored to classical agents with…