We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
VSLAM analysis using various ORBSLAM parameters setting.
- Authors
Idris, M. I.; Hussin, H.; Junos, S. A. M.; Saad, W. H. M.; Zainudin, M. N. Shah; Yatim, N. M.; Jaafar, A. S.; Kamarudin, M. R.; Saipullah, K. M.
- Abstract
SLAM or simultaneous localization and mapping system, is a system that determines the orientation and position of a robot by creating a detailed map of the environment while simultaneously tracking where the robot is within the environment. This project aims to use the camera as SLAM primary sensor to replace the LiDAR sensor frequently used in autonomous robots. ORBSLAM is used as the main algorithm, and a few settings are being adjusted to get the most accurate results. The Absolute Trajectory Error and Relative Pose Error are used to evaluate the algorithm's accuracy. After the most optimized setting is found, the setting is used for real-time mapping in an unknown environment.
- Subjects
AUTONOMOUS robots; MOBILE robots; LIDAR
- Publication
Przegląd Elektrotechniczny, 2022, Vol 98, Issue 9, p40
- ISSN
0033-2097
- Publication type
Article
- DOI
10.15199/48.2022.09.08