<p><a>It is essential for a mobile robot
during autonomous navigation to be able to detect revisited places or loop
closures while performing Vision Simultaneous Localization And Mapping (VSLAM).
Loop closing has been identified as one of the critical data association
problem when building maps. It is an efficient way to eliminate errors and
improve the accuracy of the robot localization and mapping. In order to solve loop
closing problem, the ORB-SLAM algorithm, a feature based simultaneous
localization and mapping system that operates in real time is used. This system
includes loop closing and relocalization and allows automatic initialization. </a></p>
<p>In order to check the
performance of the algorithm, the monocular and stereo and RGB-D cameras are
used. The aim of this thesis is to show the accuracy of relocalization and loop
closing process using ORB SLAM algorithm in a variety of environmental
settings. The performance of relocalization and loop closing in different challenging
indoor scenarios are demonstrated by conducting various experiments. Experimental
results show the applicability of the approach in real time application like
autonomous navigation.</p>
| Identifer | oai:union.ndltd.org:purdue.edu/oai:figshare.com:article/12159534 |
| Date | 24 April 2020 |
| Creators | Venkatanaga Amrusha Aryasomyajula (8728027) |
| Source Sets | Purdue University |
| Detected Language | English |
| Type | Text, Thesis |
| Rights | CC BY 4.0 |
| Relation | https://figshare.com/articles/RELOCALIZATION_AND_LOOP_CLOSING_IN_VISION_SIMULTANEOUS_LOCALIZATION_AND_MAPPING_VSLAM_OF_A_MOBILE_ROBOT_USING_ORB_METHOD/12159534 |
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