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Visual SLAM-based Localization and Navigation for Service Robots: The Pepper Case

2018-11-20 18:41:35
Cristopher Gómez, Matías Mattamala, Tim Resink, Javier Ruiz-del-Solar
arXiv_RO
     
Abstract

We propose a Visual-SLAM based localization and navigation system for service robots. Our system is built on top of the ORB-SLAM monocular system but extended by the inclusion of wheel odometry in the estimation procedures. As a case study, the proposed system is validated using the Pepper robot, whose short-range LIDARs and RGB-D camera do not allow the robot to self-localize in large environments. The localization system is tested in navigation tasks using Pepper in two different environments: a medium-size laboratory, and a large-size hall.

Abstract (translated)

URL

https://arxiv.org/abs/1811.08414

PDF

https://arxiv.org/pdf/1811.08414.pdf

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