Visual SLAM-Based Robotic Mapping Method for Planetary Construction
Abstract
:1. Introduction
2. Literature Review
2.1. Planetary Construction
2.2. Planetary SLAM
3. Proposed Method
3.1. System Architecture
3.2. Stereo SLAM-Based 3D Mapping Method
3.2.1. Disparity Map Prediction
3.2.2. Disparity Map for 3D Mapping
3.2.3. Disparity Map for Localization
4. Experiments and Results
4.1. Overview
4.2. Parameter Setting in the Proposed Method
4.2.1. Dense Disparity Estimation
4.2.2. Disparity-Map-Aided Feature Matching
4.3. Terrain-Mapping Results
5. Summary and Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
References
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Thresholds | Number of Feature Detected | Matching Constraint | ||
---|---|---|---|---|
0.001 | 337 | 2 | 133 | 58 |
0.0001 | 1758 | 9 | 589 | 329 |
0.00001 | 2983 | 3 | 898 | 603 |
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Hong, S.; Bangunharcana, A.; Park, J.-M.; Choi, M.; Shin, H.-S. Visual SLAM-Based Robotic Mapping Method for Planetary Construction. Sensors 2021, 21, 7715. https://doi.org/10.3390/s21227715
Hong S, Bangunharcana A, Park J-M, Choi M, Shin H-S. Visual SLAM-Based Robotic Mapping Method for Planetary Construction. Sensors. 2021; 21(22):7715. https://doi.org/10.3390/s21227715
Chicago/Turabian StyleHong, Sungchul, Antyanta Bangunharcana, Jae-Min Park, Minseong Choi, and Hyu-Soung Shin. 2021. "Visual SLAM-Based Robotic Mapping Method for Planetary Construction" Sensors 21, no. 22: 7715. https://doi.org/10.3390/s21227715