TY - GEN
T1 - Enhancing Visual SLAM with Occupancy Grid Mapping for Real-Time Locating Applications in Indoor GPS-Denied Environments
AU - Xu, Lichao
AU - Feng, Chen
AU - Kamat, Vineet R.
AU - Menassa, Carol C.
N1 - Publisher Copyright:
© 2019 American Society of Civil Engineers.
PY - 2019
Y1 - 2019
N2 - Existing RTLS solutions are mostly based on either wireless technologies, fiducial markers, or Lidar-based simultaneous localization and mapping (SLAM), and inevitably suffer from some drawbacks such as low accuracy, reliance on existing facilities, labor-intensive environment instrumentation, or high economic cost. This paper introduces an ORB2 RGB-D SLAM based indoor RTLS that can be readily adapted and applied to building or civil infrastructure applications while addressing the above limitations. Besides the original sparse feature map built by the visual SLAM (vSLAM), the proposed system builds and maintains an additional 2D occupancy grid map (OGM) and overlays it with real-time 2D camera pose and virtual laser scan for 2D localization. These designs not only allow users to interact with the system but also open up the possibilities of path planning and continuous navigation based on feature-based vSLAM. The localization accuracy of the system is evaluated with a marker-based method, which proves its feasibility and applicability in indoor building and construction applications.
AB - Existing RTLS solutions are mostly based on either wireless technologies, fiducial markers, or Lidar-based simultaneous localization and mapping (SLAM), and inevitably suffer from some drawbacks such as low accuracy, reliance on existing facilities, labor-intensive environment instrumentation, or high economic cost. This paper introduces an ORB2 RGB-D SLAM based indoor RTLS that can be readily adapted and applied to building or civil infrastructure applications while addressing the above limitations. Besides the original sparse feature map built by the visual SLAM (vSLAM), the proposed system builds and maintains an additional 2D occupancy grid map (OGM) and overlays it with real-time 2D camera pose and virtual laser scan for 2D localization. These designs not only allow users to interact with the system but also open up the possibilities of path planning and continuous navigation based on feature-based vSLAM. The localization accuracy of the system is evaluated with a marker-based method, which proves its feasibility and applicability in indoor building and construction applications.
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M3 - Conference contribution
AN - SCOPUS:85077743734
T3 - Computing in Civil Engineering 2019: Data, Sensing, and Analytics - Selected Papers from the ASCE International Conference on Computing in Civil Engineering 2019
SP - 344
EP - 351
BT - Computing in Civil Engineering 2019
A2 - Cho, Yong K.
A2 - Leite, Fernanda
A2 - Behzadan, Amir
A2 - Wang, Chao
PB - American Society of Civil Engineers (ASCE)
T2 - ASCE International Conference on Computing in Civil Engineering 2019: Data, Sensing, and Analytics, i3CE 2019
Y2 - 17 June 2019 through 19 June 2019
ER -