지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2024.6
- 수록면
- 650 - 655 (6page)
- DOI
- 10.5302/J.ICROS.204.23.8004
이용수
초록· 키워드
오류제보하기
In recent years, simultaneous localization and mapping (SLAM) technologies have made significant advances in the fields of autonomous navigation and map generation in dynamic environments. Among the SLAM technologies, ORBSLAM3 has demonstrated outstanding efficiency and accuracy in relation to three-dimensional map generation and location estimation using monocular, stereo, and RGB-D cameras. However, the limitations of visual place recognition in environments with insufficient visual features or repetitive patterns continue to affect the overall performance of ORBSLAM3. In this paper, we present two methods that use QR codes as artificial landmarks to address these limitations and propose an algorithm that integrates these methods into ORBSLAM3 to improve performance. The first method uses a QR code image as a visual feature provider, and the second method improves the accuracy and speed of place recognition via an image similarity search based on label data of QR codes. This study demonstrates that this integration is an effective method to overcome the limitations of visual place recognition and improve the performance of the system.
목차
Abstract
I. 서론
II. 본론
III. 결론
REFERENCES
참고문헌 (19)
참고문헌 신청
G. Hu, S. Huang, L. Zhao, A. Alempijevic, and G. Dissanayake, “A robust rgb-d slam algorithm,” 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2012.
M. Labbé and F. Michaud, “RTAB‐Map as an open‐source lidar and visual simultaneous localization and mapping library for large‐scale and long‐term online operation,” Journal of Field Robotics, vol. 36, no. 2, pp. 416-446, 2019.
A. J. Davison, I. D. Reid, N. D. Molton, and O. Stasse, “MonoSLAM: Real-time single camera SLAM,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 29, no. 6, pp. 1052-1067, 2007.
R. Gomez-Ojeda, F.-A. Moreno, D. Zuñiga-Noël, D. Scaramuzza, and J. Gonzalez-Jimenez, “PL-SLAM: A stereo SLAM system through the combination of points and line segments,” IEEE Transactions on Robotics, vol. 35, no. 3, pp. 734-746, 2019.
C. Kerl, J. Sturm, and D. Cremers, “Dense visual SLAM for RGB-D cameras,” 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2013.
M. Labbé and F. Michaud, “RTAB‐Map as an open‐source lidar and visual simultaneous localization and mapping library for large‐scale and long‐term online operation,” Journal of Field Robotics, vol. 36, no. 2, pp. 416-446, 2019.
A. J. Davison, I. D. Reid, N. D. Molton, and O. Stasse, “MonoSLAM: Real-time single camera SLAM,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 29, no. 6, pp. 1052-1067, 2007.
R. Gomez-Ojeda, F.-A. Moreno, D. Zuñiga-Noël, D. Scaramuzza, and J. Gonzalez-Jimenez, “PL-SLAM: A stereo SLAM system through the combination of points and line segments,” IEEE Transactions on Robotics, vol. 35, no. 3, pp. 734-746, 2019.
C. Kerl, J. Sturm, and D. Cremers, “Dense visual SLAM for RGB-D cameras,” 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2013.
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