Reference : Hierarchical Visual SLAM based on Fiducial Markers

	Document type :	Scientific congresses, symposiums and conference proceedings : Unpublished conference
	Discipline(s) :	Engineering, computing & technology : Computer science
	Focus Areas :	Security, Reliability and Trust
	To cite this reference:	http://hdl.handle.net/10993/55325

Title :	Hierarchical Visual SLAM based on Fiducial Markers
Language :	English
Author, co-author :	Tourani, Ali [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation >]
	Bavle, Hriday [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation >]
	Sanchez Lopez, Jose Luis [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation >]
	Munoz Salinas, Rafael [University of Cordoba > Department of Computer Science and Numerical Analysis > > Professor]
	Voos, Holger [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation >]
Publication date :	2-Jun-2023
Number of pages :	4
Peer reviewed :	Yes
Audience :	International
Event name :	2023 IEEE International Conference on Robotics and Automation (ICRA)
Event date :	29 May – 2 June, 2023
Event organizer :	IEEE
Event place (city) :	London
Event country :	United Kingdom
Keywords :	[en] SLAM ; Visual SLAM ; Fiducial Markers
Abstract :	[en] Fiducial markers can encode rich information about the environment and aid Visual SLAM (VSLAM) approaches in reconstructing maps with practical semantic information. Current marker-based VSLAM approaches mainly utilize markers for improving feature detection in low-feature environments and/or incorporating loop closure constraints, generating only low-level geometric maps of the environment prone to inaccuracies in complex environments. To bridge this gap, this paper presents a VSLAM approach utilizing a monocular camera and fiducial markers to generate hierarchical representations of the environment while improving the camera pose estimate. The proposed approach detects semantic entities from the surroundings, including walls, corridors, and rooms encoded within markers, and appropriately adds topological constraints among them. Experimental results on a real-world dataset demonstrate that the proposed approach outperforms a traditional marker-based VSLAM baseline in terms of accuracy, despite adding new constraints while creating enhanced map representations. Furthermore, it shows satisfactory results when comparing the reconstructed map quality to the one reconstructed using a LiDAR SLAM approach.
Funders :	The Institute of Advanced Studies (IAS) of the University of Luxembourg (project TRANSCEND) ; The European Commission Horizon2020 research and innovation program under the grant agreement No 101017258 (SESAME) ; The Luxembourg National Research Fund (FNR) 5G-SKY project (ref. C19/IS/13713801)
Permalink :	http://hdl.handle.net/10993/55325
DOI :	10.48550/arXiv.2303.01155
Other URL :	https://robotics.pme.duth.gr/workshop_active2/wp-content/uploads/2023/05/02.-Hierarchical-Visual-SLAM-based-on-Fiducial-Markers.pdf
FnR project :	FnR ; FNR13713801 > Bjorn Ottersten > 5G-Sky > Interconnecting The Sky In 5g And Beyond - A Joint Communication And Control Approach > 01/06/2020 > 31/05/2023 > 2019

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