Enhancing Visual SLAM with Occupancy Grid Mapping for Real-Time Locating Applications in Indoor GPS-Denied Environments

Lichao Xu, Chen Feng, Vineet R. Kamat, Carol C. Menassa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationComputing in Civil Engineering 2019
Subtitle of host publicationData, Sensing, and Analytics - Selected Papers from the ASCE International Conference on Computing in Civil Engineering 2019
EditorsYong K. Cho, Fernanda Leite, Amir Behzadan, Chao Wang
PublisherAmerican Society of Civil Engineers (ASCE)
Pages344-351
Number of pages8
ISBN (Electronic)9780784482438
StatePublished - 2019
EventASCE International Conference on Computing in Civil Engineering 2019: Data, Sensing, and Analytics, i3CE 2019 - Atlanta, United States
Duration: Jun 17 2019Jun 19 2019

Publication series

NameComputing in Civil Engineering 2019: Data, Sensing, and Analytics - Selected Papers from the ASCE International Conference on Computing in Civil Engineering 2019

Conference

ConferenceASCE International Conference on Computing in Civil Engineering 2019: Data, Sensing, and Analytics, i3CE 2019
CountryUnited States
CityAtlanta
Period6/17/196/19/19

ASJC Scopus subject areas

  • Computer Science(all)
  • Civil and Structural Engineering

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