{"title":"SLAM方法在ROS系统和水下机器人中的实现","authors":"Fei Suo, Jiaqi Lv, Zhan Wang","doi":"10.1109/ICUS55513.2022.9986897","DOIUrl":null,"url":null,"abstract":"Autonomous localization and map construction of underwater robots in unknown environments is a very important research area. Visual SLAM technology is based on visual processing algorithms and can accomplish this task at a low cost. This paper focuses on a set of underwater robot visual SLAM experimental process. Based on ROS system, Mono visual SLAM experiments are performed on UWSim simulation environment and real robot respectively by using mature ORB-SLAM2 algorithm. The experimental results show that this method can accurately build the sparse point cloud map of the environment under the condition of sufficient environmental feature points.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"The Implementation of the SLAM Method in ROS System and Underwater Robot\",\"authors\":\"Fei Suo, Jiaqi Lv, Zhan Wang\",\"doi\":\"10.1109/ICUS55513.2022.9986897\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Autonomous localization and map construction of underwater robots in unknown environments is a very important research area. Visual SLAM technology is based on visual processing algorithms and can accomplish this task at a low cost. This paper focuses on a set of underwater robot visual SLAM experimental process. Based on ROS system, Mono visual SLAM experiments are performed on UWSim simulation environment and real robot respectively by using mature ORB-SLAM2 algorithm. The experimental results show that this method can accurately build the sparse point cloud map of the environment under the condition of sufficient environmental feature points.\",\"PeriodicalId\":345773,\"journal\":{\"name\":\"2022 IEEE International Conference on Unmanned Systems (ICUS)\",\"volume\":\"112 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-10-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE International Conference on Unmanned Systems (ICUS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICUS55513.2022.9986897\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE International Conference on Unmanned Systems (ICUS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICUS55513.2022.9986897","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The Implementation of the SLAM Method in ROS System and Underwater Robot
Autonomous localization and map construction of underwater robots in unknown environments is a very important research area. Visual SLAM technology is based on visual processing algorithms and can accomplish this task at a low cost. This paper focuses on a set of underwater robot visual SLAM experimental process. Based on ROS system, Mono visual SLAM experiments are performed on UWSim simulation environment and real robot respectively by using mature ORB-SLAM2 algorithm. The experimental results show that this method can accurately build the sparse point cloud map of the environment under the condition of sufficient environmental feature points.
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