scholarly journals A Modular Optimization Framework for Localization and Mapping

2019 ◽  
Author(s):  
Jose Luis Blanco-Claraco
Keyword(s):  
Optimization Framework ◽  
Localization And Mapping

scholarly journals Moving Object Tracking for SLAM-based Augmented Reality

2021 ◽  
Author(s):  
Douglas Coelho Braga de Oliveira ◽  
Rodrigo Luis de Souza da Silva
Keyword(s):  
Augmented Reality ◽  
Moving Objects ◽  
Recent Literature ◽  
State Of The Art ◽  
Recognition System ◽  
Virtual Object ◽  
Total Occlusion ◽  
Optimization Framework ◽  
Localization And Mapping ◽  
Potential Applications

Augmented Reality (AR) systems based on the Simultaneous Localization and Mapping (SLAM) problem have received much attention in the last few years. SLAM allows AR applications on unprepared environments, i.e., without markers. However, by eliminating the marker object, we lose the referential for virtual object projection and the main source of interaction between real and virtual elements. In the recent literature, we found works that integrate an object recognition system to the SLAM in a way the objects are incorporated into the map. In this work, we propose a novel optimization framework for an object-aware SLAM system capable of simultaneously estimating the camera and moving objects positioning in the map. In this way, we can combine the advantages of both marker- and SLAM-based methods. We implement our proposed framework over state-of-the-art SLAM software and demonstrate potential applications for AR like the total occlusion of the marker object.

scholarly journals Autonomous Mobile Robot Navigation in Sparse LiDAR Feature Environments

2021 ◽  
Vol 11 (13) ◽  
pp. 5963
Author(s):  
Phuc Thanh-Thien Nguyen ◽  
Shao-Wei Yan ◽  
Jia-Fu Liao ◽  
Chung-Hsien Kuo
Keyword(s):  
Robot Navigation ◽  
Tracking Error ◽  
Unmanned Vehicles ◽  
Mobile Robot Navigation ◽  
Selection Strategy ◽  
Localization And Mapping ◽  
Pure Pursuit ◽  
Stable Performance ◽  
Large Curve ◽  
Moving Speed

In the industrial environment, Autonomous Guided Vehicles (AGVs) generally run on a planned route. Among trajectory-tracking algorithms for unmanned vehicles, the Pure Pursuit (PP) algorithm is prevalent in many real-world applications because of its simple and easy implementation. However, it is challenging to decelerate the AGV’s moving speed when turning on a large curve path. Moreover, this paper addresses the kidnapped-robot problem occurring in spare LiDAR environments. This paper proposes an improved Pure Pursuit algorithm so that the AGV can predict the trajectory and decelerate for turning, thus increasing the accuracy of the path tracking. To solve the kidnapped-robot problem, we use a learning-based classifier to detect the repetitive pattern scenario (e.g., long corridor) regarding 2D LiDAR features for switching the localization system between Simultaneous Localization And Mapping (SLAM) method and Odometer method. As experimental results in practice, the improved Pure Pursuit algorithm can reduce the tracking error while performing more efficiently. Moreover, the learning-based localization selection strategy helps the robot navigation task achieve stable performance, with 36.25% in completion rate more than only using SLAM. The results demonstrate that the proposed method is feasible and reliable in actual conditions.

scholarly journals Multi-fidelity black-box optimization for time-optimal quadrotor maneuvers

2021 ◽  
pp. 027836492110333
Author(s):  
Gilhyun Ryou ◽  
Ezra Tal ◽  
Sertac Karaman
Keyword(s):  
Real World ◽  
High Speed ◽  
Analytical Approximation ◽  
Black Box ◽  
Bayesian Optimization ◽  
Optimization Framework ◽  
Quadrotor Aircraft ◽  
Time Optimal ◽  
Feasibility Constraints ◽  
Generation Problem

We consider the problem of generating a time-optimal quadrotor trajectory for highly maneuverable vehicles, such as quadrotor aircraft. The problem is challenging because the optimal trajectory is located on the boundary of the set of dynamically feasible trajectories. This boundary is hard to model as it involves limitations of the entire system, including complex aerodynamic and electromechanical phenomena, in agile high-speed flight. In this work, we propose a multi-fidelity Bayesian optimization framework that models the feasibility constraints based on analytical approximation, numerical simulation, and real-world flight experiments. By combining evaluations at different fidelities, trajectory time is optimized while the number of costly flight experiments is kept to a minimum. The algorithm is thoroughly evaluated for the trajectory generation problem in two different scenarios: (1) connecting predetermined waypoints; (2) planning in obstacle-rich environments. For each scenario, we conduct both simulation and real-world flight experiments at speeds up to 11 m/s. Resulting trajectories were found to be significantly faster than those obtained through minimum-snap trajectory planning.

Comparison of different SLAM approaches for a driverless race car

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Nick Le Large ◽  
Frank Bieder ◽  
Martin Lauer
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Ground Truth ◽  
Time Constraints ◽  
Differential Gps ◽  
Real World Data ◽  
Race Car ◽  
Localization And Mapping ◽  
Slam Algorithm ◽  
Computational Resources

Abstract For the application of an automated, driverless race car, we aim to assure high map and localization quality for successful driving on previously unknown, narrow race tracks. To achieve this goal, it is essential to choose an algorithm that fulfills the requirements in terms of accuracy, computational resources and run time. We propose both a filter-based and a smoothing-based Simultaneous Localization and Mapping (SLAM) algorithm and evaluate them using real-world data collected by a Formula Student Driverless race car. The accuracy is measured by comparing the SLAM-generated map to a ground truth map which was acquired using high-precision Differential GPS (DGPS) measurements. The results of the evaluation show that both algorithms meet required time constraints thanks to a parallelized architecture, with GraphSLAM draining the computational resources much faster than Extended Kalman Filter (EKF) SLAM. However, the analysis of the maps generated by the algorithms shows that GraphSLAM outperforms EKF SLAM in terms of accuracy.

scholarly journals A survey: which features are required for dynamic visual simultaneous localization and mapping?

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Zewen Xu ◽  
Zheng Rong ◽  
Yihong Wu
Keyword(s):  
Simultaneous Localization And Mapping ◽  
Dynamic Environments ◽  
Visual Features ◽  
Advantages And Disadvantages ◽  
Intelligent Robots ◽  
Localization And Mapping ◽  
High Level ◽  
Static World ◽  
Robotic Applications ◽  
Significant Attention

AbstractIn recent years, simultaneous localization and mapping in dynamic environments (dynamic SLAM) has attracted significant attention from both academia and industry. Some pioneering work on this technique has expanded the potential of robotic applications. Compared to standard SLAM under the static world assumption, dynamic SLAM divides features into static and dynamic categories and leverages each type of feature properly. Therefore, dynamic SLAM can provide more robust localization for intelligent robots that operate in complex dynamic environments. Additionally, to meet the demands of some high-level tasks, dynamic SLAM can be integrated with multiple object tracking. This article presents a survey on dynamic SLAM from the perspective of feature choices. A discussion of the advantages and disadvantages of different visual features is provided in this article.

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