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Accurate Map-Based RGB-D SLAM for Mobile Robots

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Robot 2015: Second Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 418))

Abstract

In this paper we present and evaluate a map-based RGB-D SLAM (Simultaneous Localization and Mapping) system employing a novel idea of combining efficient visual odometry and a persistent map of 3D point features used to jointly optimize the sensor (robot) poses and the feature positions. The optimization problem is represented as a factor graph. The SLAM system consists of a front-end that tracks the sensor frame-by-frame, extracts point features, and associates them with the map, and a back-end that manages and optimizes the map. We propose a robust approach to data association, which combines efficient selection of candidate features from the map, matching of visual descriptors guided by the sensor pose prediction from visual odometry, and verification of the associations in both the image plane and 3D space. The improved accuracy and robustness is demonstrated on publicly available data sets.

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Author information

Authors and Affiliations

  1. Institute of Control and Information Engineering, Poznań University of Technology, ul. Piotrowo 3A, 60-965, Poznań, Poland

    Dominik Belter, Michał Nowicki & Piotr Skrzypczyński

Authors
  1. Dominik Belter
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  2. Michał Nowicki
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  3. Piotr Skrzypczyński
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Corresponding author

Correspondence to Piotr Skrzypczyński .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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Belter, D., Nowicki, M., Skrzypczyński, P. (2016). Accurate Map-Based RGB-D SLAM for Mobile Robots. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 418. Springer, Cham. https://doi.org/10.1007/978-3-319-27149-1_41

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  • DOI: https://doi.org/10.1007/978-3-319-27149-1_41

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27148-4

  • Online ISBN: 978-3-319-27149-1

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