出版社：Academy & Industry Research Collaboration Center (AIRCC)
摘要：Computer vision approaches are increasingly used in mobile robotic systems, since they allowto obtain a very good representation of the environment by using low-power and cheap sensors.In particular it has been shown that they can compete with standard solutions based on laserrange scanners when dealing with the problem of simultaneous localization and mapping(SLAM), where the robot has to explore an unknown environment while building a map of it andlocalizing in the same map. We present a package for simultaneous localization and mapping inROS (Robot Operating System) using a monocular camera sensor only. Experimental results inreal scenarios as well as on standard datasets show that the algorithm is able to track thetrajectory of the robot and build a consistent map of small environments, while running in nearreal-time on a standard PC.
