Submap-Based Pose-Graph Visual SLAM: A Robust Visual Exploration and Localization System
Weinan Chen, Lei Zhu, Yisheng Guan, C. Ronald Kube, Hong Zhang
Abstract
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc. To build a robust exploration and localization system in a given space, a submap-based VSLAM system is proposed in this paper. Our system uses a submap back-end and a visual front-end. The main advantage of our system is its robustness with respect to tracking failure, a common problem in current VSLAM algorithms. The robustness of our system is compared with the state-of-the-art in terms of average tracking percentage. The precision of our system is also evaluated in terms of ATE (absolute trajectory error) RMSE (root mean square error) comparing the state-of-the-art. The ability of our system in solving the “kidnapped” problem is demonstrated. Our system can improve the robustness of visual localization in challenging situations.
BibTeX
@inproceedings{iros2018_submapbasedposeg,
title = {Submap-Based Pose-Graph Visual SLAM: A Robust Visual Exploration and Localization System},
author = {Weinan Chen and Lei Zhu and Yisheng Guan and C. Ronald Kube and Hong Zhang},
booktitle = {IROS 2018},
year = {2018}
}