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On-Board Visual SLAM on a UGV Using a RGB-D Camera

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10464))

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Abstract

We present a approach to real-time localization and mapping using a RGB-D camera, such as Microsoft Kinect, and a small and powerful computer Intel Stick Core M3 Processor. Our system can run the computation and sensing required for SLAM on-board the UGV, removing the dependence on unreliable wireless communication. We make use of visual odometry, loop closure and graph optimization to achieve this purpose. Our approach is able to perform accurate and efficient on-board SLAM, and we evaluate its performance thoroughly with varying environments and illumination conditions. The experiments demonstrate that our system can robustly deal with difficult data in indoor and outdoor scenarios.

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Acknowledgement

This work is part of the projects 2016-PIC-024 and 2016-PIC-025, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.

Author information

Authors and Affiliations

  1. Dep. DECEM, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar

  2. Dep. DEEE, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Guillermo A. Rodríguez, Leandro Álvarez, Sebastián Sandoval, Fernando Quisaguano & Alex Limaico

  3. CICTE Research Center, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar, Guillermo A. Rodríguez, Leandro Álvarez, Sebastián Sandoval, Fernando Quisaguano & Alex Limaico

  4. GREC Research Group, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

Authors
  1. Wilbert G. Aguilar
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  2. Guillermo A. Rodríguez
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  3. Leandro Álvarez
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  4. Sebastián Sandoval
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  5. Fernando Quisaguano
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  6. Alex Limaico
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Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Aguilar, W.G., Rodríguez, G.A., Álvarez, L., Sandoval, S., Quisaguano, F., Limaico, A. (2017). On-Board Visual SLAM on a UGV Using a RGB-D Camera. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_28

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  • DOI: https://doi.org/10.1007/978-3-319-65298-6_28

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