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Data fusion of visual odometry and ranges for accurate SLAM

Lee, Young-Hee and Zhu, Chen and Günther, Christoph (2022) Data fusion of visual odometry and ranges for accurate SLAM. DGON POSNAV 2022, 2022-11-03 - 2022-11-04, Berlin, Deutschland.

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Autonomous vehicles are now intensively studied due to their wide range of possible applications. For autonomous maneuver, vehicles need to accurately estimate their positions and orientation. Global Navigation Satellite System (GNSS) is generally used from drones to autonomous cars to estimate their positions. When GNSS is unavailable or unreliable, Visual Simultaneous Localization and Mapping (VSLAM) can be employed. However, VSLAM is a dead-reckoning process, so the estimation errors are accumulated over time without a bound. The errors can be significantly reduced using the loop closing technique, but it requires large computing power. Moreover, loop closures cannot resolve the VSLAM's inherent issue with the scale estimation. We propose a fusion of visual odometry and range measurements for accurate SLAM. Our experimental evaluation results show that the estimation errors are mitigated by fusing visual odometry and range measurements. The absolute scale can be also accurately estimated using ranges. Furthermore, our method requires much smaller processing power than loop closures since only odometry (6DoF) and range (scalar) measurements are used for the data fusion.

Item URL in elib:https://elib.dlr.de/193645/
Document Type:Conference or Workshop Item (Speech)
Title:Data fusion of visual odometry and ranges for accurate SLAM
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Zhu, ChenUNSPECIFIEDhttps://orcid.org/0000-0002-4320-4826UNSPECIFIED
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Sensor fusion, SLAM, Visual, Camera, Range, UWB, Multi-robot, Cooperative Navigation
Event Title:DGON POSNAV 2022
Event Location:Berlin, Deutschland
Event Type:international Conference
Event Start Date:3 November 2022
Event End Date:4 November 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:other
DLR - Research area:Aeronautics
DLR - Program:L - no assignment
DLR - Research theme (Project):L - no assignment
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Navigation
Deposited By: Lee, Young-Hee
Deposited On:31 Jan 2023 13:26
Last Modified:24 Apr 2024 20:54

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