KO-Fusion: dense visual SLAM with tightly-coupled kinematic and odometric tracking
File(s)
Accepted version
Author(s)
Houscago, Charlie
Bloesch, Michael
Leutenegger, Stefan
Type
Conference Paper
Abstract
Dense visual SLAM methods are able to estimate the 3D structure of an environment and locate the observer within them. They estimate the motion of a camera by matching visual information between consecutive frames, and are thus prone to failure under extreme motion conditions or when observing texture-poor regions. The integration of additional sensor modalities has shown great promise in improving the robustness and accuracy of such SLAM systems. In contrast to the popular use of inertial measurements we propose to tightly-couple a dense RGB-D SLAM system with kinematic and odometry measurements from a wheeled robot equipped with a manipulator. The system has real-time capability while running on GPU. It optimizes the camera pose by considering the geometric alignment of the map as well as kinematic and odometric data from the robot. Through experimentation in the real-world, we show that the system is more robust to challenging trajectories featuring fast and loopy motion than the equivalent system without the additional kinematic and odometric knowledge, whilst retaining comparable performance to the equivalent RGB-D only system on easy trajectories.
Editor(s)
Howard, A
Althoefer, K
Arai, F
Arrichiello, F
Caputo, B
Castellanos, J
Hauser, K
Isler, V
Kim, J
Liu, H
Oh, P
Santos, V
Scaramuzza, D
Ude, A
Voyles, R
Yamane, K
Okamura, A
Date Issued
2019-08-12
Date Acceptance
2019-05-01
Citation
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, pp.4054-4060
ISSN
1050-4729
Publisher
IEEE
Start Page
4054
End Page
4060
Journal / Book Title
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Copyright Statement
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000494942302138&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Source
International Conference on Robotics and Automation (ICRA)
Subjects
Science & Technology
Technology
Automation & Control Systems
Robotics
Publication Status
Published
Start Date
2019-05-20
Finish Date
2019-05-24
Coverage Spatial
Montreal, CANADA
Date Publish Online
2019-08-12