elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Robust Approaches for Localization on Multi-camera Systems in Dynamic Environments

Sewtz, Marco and Luo, Xiaozhou and Landgraf, Johannes and Bodenmüller, Tim and Triebel, Rudolph (2021) Robust Approaches for Localization on Multi-camera Systems in Dynamic Environments. In: 2021 International Conference on Automation, Robotics and Applications, ICARA 2021. IEEE. 2021 7th International Conference on Automation, Robotics and Applications (ICARA), 4-6 Feb. 2021, Prag, Tschechien. doi: 10.1109/ICARA51699.2021.9376475. ISBN 978-073814290-6.

Full text not available from this repository.

Abstract

Localization of humanoid robots in real-life scenarios has to robustly tackle dynamic environments and provide coherent data and tight integration for follow-up tasks. However state-of-the-art solutions, like ORBSlam2 [1], lack this ability. In this work we present two adaptations of ORBSlam2 for a multi-camera setup on the DLR Rollin' Justin System, one distributed multi-slam and one combined single-process system. Further, we introduce the usage of pre-recorded maps with ORBSlam2 and the alignment with semantic maps for planning. We compare performance of the adaptations against and the original approach in realistic experiments and discuss advantages and disadvantages of all methods.

Item URL in elib:https://elib.dlr.de/141546/
Document Type:Conference or Workshop Item (Speech)
Title:Robust Approaches for Localization on Multi-camera Systems in Dynamic Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Sewtz, MarcoMarco.Sewtz (at) dlr.dehttps://orcid.org/0000-0003-1662-534X
Luo, XiaozhouUNSPECIFIEDUNSPECIFIED
Landgraf, JohannesUNSPECIFIEDUNSPECIFIED
Bodenmüller, TimTim.Bodenmueller (at) dlr.dehttps://orcid.org/0000-0003-0899-361X
Triebel, Rudolphrudolph.triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Date:February 2021
Journal or Publication Title:2021 International Conference on Automation, Robotics and Applications, ICARA 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/ICARA51699.2021.9376475
Publisher:IEEE
ISBN:978-073814290-6
Status:Published
Keywords:SLAM, multi-camera SLAM, localization, mapping, ORBSlam, dynamic environments
Event Title:2021 7th International Conference on Automation, Robotics and Applications (ICARA)
Event Location:Prag, Tschechien
Event Type:international Conference
Event Dates:4-6 Feb. 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Multisensory World Modelling (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Sewtz, Marco
Deposited On:28 Apr 2021 14:42
Last Modified:28 Apr 2021 14:42

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.