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Technology of Graphic & Image
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3124-3127,3131

Real-time occupancy grid mapping using ORB-SLAM2

Lu Jianwei
Wang Yaoli
College of Information & Computer, Taiyuan University of Technology, Taiyuan 030024, China

Abstract

Currently the visual SLAM system can only output the camera's motion trajectory, but it cannot generate maps for path planning and navigation. In order to solve this problem, this paper proposed a real-time grid map algorithm based on ORB-SLAM2. Firstly, it established an ISM for visual SLAM. Secondly, it rearranged the construction mechanism of the grid map algorithm for ISM and then derived it in detail. Finally, the paper introduced the specific implementation scheme of ORB-SLAM2 grid map construction. Through experiments, the algorithm shows its feasibility based on the analysis of the ISM and the grid map model. Furthermore, the real-time experiments using monocular camera and RGB-D camera can realize the real-time construction of the grid map and clearly show the positions of obstacles, which verifies the effectiveness of the algorithm.

Foundation Support

国家自然科学基金资助项目(201801D121141)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.05.0338
Publish at: Application Research of Computers Printed Article, Vol. 36, 2019 No. 10
Section: Technology of Graphic & Image
Pages: 3124-3127,3131
Serial Number: 1001-3695(2019)10-054-3124-04

Publish History

[2019-10-05] Printed Article

Cite This Article

陆建伟, 王耀力. 基于ORB-SLAM2的实时网格地图构建 [J]. 计算机应用研究, 2019, 36 (10): 3124-3127,3131. (Lu Jianwei, Wang Yaoli. Real-time occupancy grid mapping using ORB-SLAM2 [J]. Application Research of Computers, 2019, 36 (10): 3124-3127,3131. )

About the Journal

  • Application Research of Computers Monthly Journal
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    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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