Authors:
Maxim Sokolov
;
Oleg Bulichev
and
Ilya Afanasyev
Affiliation:
Innopolis University, Russian Federation
Keyword(s):
Monocular SLAM, ROS, Visual Odometry, Lidar Odometry, Crawler Robot, ORB-SLAM, LSD-SLAM.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robotics and Automation
;
Vision, Recognition and Reconstruction
Abstract:
This article presents a comparative analysis of ROS-based monocular visual odometry, lidar odometry and
ground truth-related path estimation for a crawler-type robot in indoor environment. We tested these methods
with the crawler robot ”Engineer”, which was teleoperated in a small-sized indoor workspace with office-style
environment. Since robot’s onboard computer can not work simultaneously with ROS packages of lidar
odometry and visual SLAM, we used online computation of lidar odometry, while video data from onboard
camera was processed offline by ORB-SLAM and LSD-SLAM algorithms. As far as crawler robot motion is
accompanied by significant vibrations, we faced some problems with these visual SLAM, which resulted in
decreasing accuracy of robot trajectory evaluation or even fails in visual odometry, in spite of using a video
stabilization filter. The comparative analysis shown that lidar odometry is close to the ground truth, whereas
visual odometry can demonstrate signifi
cant trajectory deviations.
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