| Issue |
MATEC Web Conf.
Volume 160, 2018
International Conference on Electrical Engineering, Control and Robotics (EECR 2018)
|
|
|---|---|---|
| Article Number | 07001 | |
| Number of page(s) | 7 | |
| Section | Information Science and Engineering | |
| DOI | https://doi.org/10.1051/matecconf/201816007001 | |
| Published online | 09 April 2018 | |
A Micro SLAM System Based on ORB for RGB-D Cameras
1
Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China
2
Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing 100124, China
In this paper, a micro SLAM system based on ORB features for RGB-D cameras has been proposed. With only a RGB-D sensor, this method can be applied in small environment for localization and mapping. Furthermore, the task of 3D reconstruction can also be accomplished by using the approach. The pose graph based on Bundle Adjustment is adopted for reducing the estimation error. In order to further speed up computing to meet the requirement of real-time, we have proposed the piecewise optimization strategy. The approach is evaluated on public benchmark datasets. Compared with several state-of-the-art scheme, this method has proven to work well in these environments.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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