Optimization algorithms for improving the accuracy and robustness of visual odometry of ground-based mobile robots
https://doi.org/10.17586/0021-3454-2022-65-3-218-226
Abstract
The problem of improving the accuracy and robustness of simultaneous localization and mapping methods using numerical optimization with constraints is considered. The proposed solution is based on a modification of the ORB-SLAM3 algorithm, which takes into account the peculiarities of the kinematics of ground robots and uses the complexing of visual and wheel odometry data, bundle adjustment for setting parameters that comprehensively characterize the state of the visual sensor, as well as the loop closure algorithm to correct the map. Results of the approach approbation with an OpenLoris dataset demonstrate that for several scenarios the proposed solution is significantly superior in accuracy and robustness to the ORB-SLAM3 algorithm.
About the Authors
J. Mahmoud
ITMO University
Russian Federation
Russian Federation
Jaafar Mahmoud — Post-Graduate Student; ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronic and Energy-Efficient Robotics.
St. Petersburg
V. Ha The Long
ITMO University
Russian Federation
Russian Federation
Vuong Ha The Long — Graduate Student; ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronic and Energy-Efficient Robotics.
St. Petersburg
A. M. Burkov
Sberbank
Russian Federation
Russian Federation
Aleхey M. Burkov — Sberbank, Robotics Laboratory; Lead Engineer-Designer.
Moscow
S. A. Kolyubin
ITMO University
Russian Federation
Russian Federation
Sergey A. Kolyubin — Dr. Sci., Associate Professor; ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronic and Energy-Efficient Robotics; Leading Researcher.
St. Petersburg
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Review
For citations:
Mahmoud J., Ha The Long V., Burkov A.M., Kolyubin S.A. Optimization algorithms for improving the accuracy and robustness of visual odometry of ground-based mobile robots. Journal of Instrument Engineering. 2022;65(3):218-226. (In Russ.) https://doi.org/10.17586/0021-3454-2022-65-3-218-226
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