Giter Club home page Giter Club logo

orb_line_slam's Introduction

#ORB_Line_SLAM

ORB_line_SLAM is an extension to the classic ORB_SLAM2 that make use of both point and line features.

Abstract:


The combination of wearable sensors and Augmented Reality (AR) technology has shown promising prospects in assisting substation inspection, especially when the tasks are infrequent and unfamiliar to human operators. In this paper, a wearable-assisted system (WAS) is proposed for task-specific global navigation and position-aware workflow guidance using a head-mounted stereo camera. The key of our proposal is an extended stereo visual SLAM approach is proposed with Bags of Point and Line Word (BoPLW) pairs, which ensures more accurate and robust dynamic ego-localization performance against several challenges that are typical in substations, such as similar facilities, low-textured scenes and lighting changes. In addition, the paper proposes to learn a global Metric-Topological Abstract map (MTA-map) for supporting map-based re-localization and navigation guidance. A prototype of WAS is developed in which augmentations of guidance are delivered to users via an optical see-through display. The system is evaluated in field experiments designed as an substation inspection scenario and other similar industrial inspection applications. The results validate the practicability and effectiveness of the system. Our code is available at https://github.com/robotseu/ORB_Line_SLAM.

Citation:

K. Qian, W. Zhao, K. Li, X. Ma and H. Yu, "Visual SLAM with BoPLW Pairs using Egocentric Stereo Camera for Wearable-assisted Substation Inspection," in IEEE Sensors Journal. doi: 10.1109/JSEN.2019.2947275. PDF

@article{Qian2019,
title = {Visual SLAM with BoPLW Pairs using Egocentric Stereo Camera for Wearable-assisted Substation Inspection},
journal = {IEEE Sensors Journal},
author = {Qian, Kun and Zhao, Wei and Li, Kai and Ma, Xudong and Yu, Hai},
volume = {doi: 10.1109/JSEN.2019.2947275},
year = {2019}
}

orb_line_slam's People

Contributors

robotseu avatar stdmkmehp avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    ๐Ÿ–– Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. ๐Ÿ“Š๐Ÿ“ˆ๐ŸŽ‰

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google โค๏ธ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.