Autonomous mobile robot with ORB-SLAM 2

In this thesis we introduced ORB-SLAM2. It is critical for a mobile robot to be able to identify revisited locations or loop closures while conducting Simultaneous Localization and Mapping (SLAM) in order to be successful during autonomous navigation. When creating maps, it has been determined that...

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Main Author:	Salah Eddine, Benahmed
Format:	Thesis
Language:	English English English
Published:	2021
Subjects:	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
Online Access:	http://eprints.uthm.edu.my/6995/1/24p%20BENAHMED%20SALAH%20EDDINE.pdf http://eprints.uthm.edu.my/6995/2/BENAHMED%20SALAH%20EDDINE%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6995/3/BENAHMED%20SALAH%20EDDINE%20WATERMARK.pdf
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id	my-uthm-ep.6995
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spelling	my-uthm-ep.69952022-04-26T07:03:00Z Autonomous mobile robot with ORB-SLAM 2 2021-08 Salah Eddine, Benahmed TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) In this thesis we introduced ORB-SLAM2. It is critical for a mobile robot to be able to identify revisited locations or loop closures while conducting Simultaneous Localization and Mapping (SLAM) in order to be successful during autonomous navigation. When creating maps, it has been determined that one of the most difficult data association problems is loop closure. It is an effective method of eliminating mistakes and increasing the precision of the robot's localization and mapping capabilities. For the purpose of resolving the loop closure issue, the ORB-SLAM method is used, which is a feature-based simultaneous localization and mapping system that works in real time. This system incorporates loop closure and relocalization, as well as the ability to do automated initialization. The monocular cameras are used to test the algorithm's performance in order to ensure that it is working properly. An important goal of this thesis is to demonstrate the accuracy of the relocalization and loop closure processes while utilizing the ORB SLAM2 algorithm in a range of different environmental conditions. The effectiveness of relocalization and loop closure in a variety of difficult indoor settings is shown via the use of a variety of experiment. According to the results of the studies, the monocular SLAM provides an accurate outcome in the interior environment. The ORB-SLAM 2 findings show the usability of the technique for autonomous navigation and future automated vehicles equipped with a low-coast monocular camera. The ORB-SLAM 2 results also demonstrate the usability of the approach for future driverless vehicles. Keywords: ORB-SLAM2; keyframe; map points localization, relocation 2021-08 Thesis http://eprints.uthm.edu.my/6995/ http://eprints.uthm.edu.my/6995/1/24p%20BENAHMED%20SALAH%20EDDINE.pdf text en public http://eprints.uthm.edu.my/6995/2/BENAHMED%20SALAH%20EDDINE%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/6995/3/BENAHMED%20SALAH%20EDDINE%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General)
spellingShingle	TJ210.2-211.47 Mechanical devices and figures Automata Ingenious mechanisms Robots (General) Salah Eddine, Benahmed Autonomous mobile robot with ORB-SLAM 2
description	In this thesis we introduced ORB-SLAM2. It is critical for a mobile robot to be able to identify revisited locations or loop closures while conducting Simultaneous Localization and Mapping (SLAM) in order to be successful during autonomous navigation. When creating maps, it has been determined that one of the most difficult data association problems is loop closure. It is an effective method of eliminating mistakes and increasing the precision of the robot's localization and mapping capabilities. For the purpose of resolving the loop closure issue, the ORB-SLAM method is used, which is a feature-based simultaneous localization and mapping system that works in real time. This system incorporates loop closure and relocalization, as well as the ability to do automated initialization. The monocular cameras are used to test the algorithm's performance in order to ensure that it is working properly. An important goal of this thesis is to demonstrate the accuracy of the relocalization and loop closure processes while utilizing the ORB SLAM2 algorithm in a range of different environmental conditions. The effectiveness of relocalization and loop closure in a variety of difficult indoor settings is shown via the use of a variety of experiment. According to the results of the studies, the monocular SLAM provides an accurate outcome in the interior environment. The ORB-SLAM 2 findings show the usability of the technique for autonomous navigation and future automated vehicles equipped with a low-coast monocular camera. The ORB-SLAM 2 results also demonstrate the usability of the approach for future driverless vehicles. Keywords: ORB-SLAM2; keyframe; map points localization, relocation
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Salah Eddine, Benahmed
author_facet	Salah Eddine, Benahmed
author_sort	Salah Eddine, Benahmed
title	Autonomous mobile robot with ORB-SLAM 2
title_short	Autonomous mobile robot with ORB-SLAM 2
title_full	Autonomous mobile robot with ORB-SLAM 2
title_fullStr	Autonomous mobile robot with ORB-SLAM 2
title_full_unstemmed	Autonomous mobile robot with ORB-SLAM 2
title_sort	autonomous mobile robot with orb-slam 2
granting_institution	Universiti Tun Hussein Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2021
url	http://eprints.uthm.edu.my/6995/1/24p%20BENAHMED%20SALAH%20EDDINE.pdf http://eprints.uthm.edu.my/6995/2/BENAHMED%20SALAH%20EDDINE%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/6995/3/BENAHMED%20SALAH%20EDDINE%20WATERMARK.pdf
_version_	1747831106040758272

Autonomous mobile robot with ORB-SLAM 2

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