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arXiv · 1811.08414

Visual SLAM-based Localization and Navigation for Service Robots: The Pepper Case

Cristopher Gómez·Matías Mattamala·Tim Resink·Javier Ruiz-del-Solar
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Abstract

We propose a Visual-SLAM based localization and navigation system for service robots. Our system is built on top of the ORB-SLAM monocular system but extended by the inclusion of wheel odometry in the estimation procedures. As a case study, the proposed system is validated using the Pepper robot, whose short-range LIDARs and RGB-D camera do not allow the robot to self-localize in large environments. The localization system is tested in navigation tasks using Pepper in two different environments: a medium-size laboratory, and a large-size hall.

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BibTeXRIS

Cristopher Gómez, Matías Mattamala, Tim Resink, Javier Ruiz-del-Solar. 2018-11-20. Visual SLAM-based Localization and Navigation for Service Robots: The Pepper Case. https://doi.org/10.1007/978-3-030-27544-0_3

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