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A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping
This work presents a hybrid visual-based SLAM architecture that aims to take advantage of the strengths of each of the two main methodologies currently available for implementing visual-based SLAM systems, while at the same time minimizing some of their drawbacks. The main idea is to implement a loc...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8749760/ https://www.ncbi.nlm.nih.gov/pubmed/35009753 http://dx.doi.org/10.3390/s22010210 |
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author | Munguia, Rodrigo Trujillo, Juan-Carlos Guerra, Edmundo Grau, Antoni |
author_facet | Munguia, Rodrigo Trujillo, Juan-Carlos Guerra, Edmundo Grau, Antoni |
author_sort | Munguia, Rodrigo |
collection | PubMed |
description | This work presents a hybrid visual-based SLAM architecture that aims to take advantage of the strengths of each of the two main methodologies currently available for implementing visual-based SLAM systems, while at the same time minimizing some of their drawbacks. The main idea is to implement a local SLAM process using a filter-based technique, and enable the tasks of building and maintaining a consistent global map of the environment, including the loop closure problem, to use the processes implemented using optimization-based techniques. Different variants of visual-based SLAM systems can be implemented using the proposed architecture. This work also presents the implementation case of a full monocular-based SLAM system for unmanned aerial vehicles that integrates additional sensory inputs. Experiments using real data obtained from the sensors of a quadrotor are presented to validate the feasibility of the proposed approach. |
format | Online Article Text |
id | pubmed-8749760 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-87497602022-01-12 A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping Munguia, Rodrigo Trujillo, Juan-Carlos Guerra, Edmundo Grau, Antoni Sensors (Basel) Article This work presents a hybrid visual-based SLAM architecture that aims to take advantage of the strengths of each of the two main methodologies currently available for implementing visual-based SLAM systems, while at the same time minimizing some of their drawbacks. The main idea is to implement a local SLAM process using a filter-based technique, and enable the tasks of building and maintaining a consistent global map of the environment, including the loop closure problem, to use the processes implemented using optimization-based techniques. Different variants of visual-based SLAM systems can be implemented using the proposed architecture. This work also presents the implementation case of a full monocular-based SLAM system for unmanned aerial vehicles that integrates additional sensory inputs. Experiments using real data obtained from the sensors of a quadrotor are presented to validate the feasibility of the proposed approach. MDPI 2021-12-29 /pmc/articles/PMC8749760/ /pubmed/35009753 http://dx.doi.org/10.3390/s22010210 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Munguia, Rodrigo Trujillo, Juan-Carlos Guerra, Edmundo Grau, Antoni A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping |
title | A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping |
title_full | A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping |
title_fullStr | A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping |
title_full_unstemmed | A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping |
title_short | A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping |
title_sort | hybrid visual-based slam architecture: local filter-based slam with keyframe-based global mapping |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8749760/ https://www.ncbi.nlm.nih.gov/pubmed/35009753 http://dx.doi.org/10.3390/s22010210 |
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