Research on Positioning Accuracy of Mobile Robot in Indoor Environment Based on Improved RTABMAP Algorithm
Shijie Zhou,
Zelun Li,
Zhongliang Lv
et al.
Abstract:Visual simultaneous localization and mapping is a widely used technology for mobile robots to carry out precise positioning in the environment of GNSS technology failure. However, as the robot moves around indoors, its position accuracy will gradually decrease over time due to common and unavoidable environmental factors. In this paper, we propose an improved method called RTABMAP-VIWO, which is based on RTABMAP. The basic idea is to use an Extended Kalman Filter (EKF) framework for fusion attitude estimates f… Show more
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