{"title":"Efficient robotic SLAM by fusion of RatSLAM and RGBD-SLAM","authors":"Robert Tubman, J. Potgieter, K. Arif","doi":"10.1109/M2VIP.2016.7827323","DOIUrl":null,"url":null,"abstract":"This paper presents a novel method to improve the robotic SLAM by fusing aspects from the RGBD-SLAM and RatSLAM methods. The proposed solution takes the 3D feature representations of the environment much like the RGBD-SLAM system but instead of creating a voxel map, it creates a grid map taking elements from the RatSLAM system. The resulting integration of SLAM methods eliminates the need for a continuous stream of images as required in RGBD-SLAM and thus overcomes the problem of ambiguous data normally generated by featureless surface such as repeating wall patterns. The proposed solution is implemented on a Pioneer 3-DX mobile robot using Kinect sensor. The results show that the proposed method can successfully conduct SLAM in an efficient manner.","PeriodicalId":125468,"journal":{"name":"2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/M2VIP.2016.7827323","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper presents a novel method to improve the robotic SLAM by fusing aspects from the RGBD-SLAM and RatSLAM methods. The proposed solution takes the 3D feature representations of the environment much like the RGBD-SLAM system but instead of creating a voxel map, it creates a grid map taking elements from the RatSLAM system. The resulting integration of SLAM methods eliminates the need for a continuous stream of images as required in RGBD-SLAM and thus overcomes the problem of ambiguous data normally generated by featureless surface such as repeating wall patterns. The proposed solution is implemented on a Pioneer 3-DX mobile robot using Kinect sensor. The results show that the proposed method can successfully conduct SLAM in an efficient manner.