Visual SLAM-based Localization and Navigation for Service Robots: The Pepper Case
Universidad de Chile（智利大学）；Advanced Mining Technology Center（先进采矿技术中心）；Delft University of Technology（代尔夫特理工大学）
英文摘要：
We propose a Visual-SLAM based localization and navigation system for service robots. Our system is built on top of the ORB-SLAM monocular system but extended by the inclusion of wheel odometry in the estimation procedures. As a case study, the proposed system is validated using the Pepper robot, whose short-range LIDARs and RGB-D camera do not allow the robot to self-localize in large environments. The localization system is tested in navigation tasks using Pepper in two different environments: a medium-size laboratory, and a large-size hall.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
