UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers

作者：

Highlights：

• Novel SLAM method that fuses keypoints with squared fiducial markers.

• The proposed method can either use only markers, only keypoints, or a combination of them.

• Markers help to alleviate the relocalization problem since they remove the visual ambiguity in repetitive environments, and to obtain the map scale.

• Markers can be placed in strategic locations to help relocalization and reduce drift.

• Proposed method outperforms ORBSLAM2 and LDSO in public dataset KITTI, Euroc-MAV and TUM.

摘要

•Novel SLAM method that fuses keypoints with squared fiducial markers.•The proposed method can either use only markers, only keypoints, or a combination of them.•Markers help to alleviate the relocalization problem since they remove the visual ambiguity in repetitive environments, and to obtain the map scale.•Markers can be placed in strategic locations to help relocalization and reduce drift.•Proposed method outperforms ORBSLAM2 and LDSO in public dataset KITTI, Euroc-MAV and TUM.

论文关键词：SLAM,KeyPoints,Fiducial Markers,Marker Mapping,ArUco

论文评审过程：Received 20 March 2019, Revised 8 November 2019, Accepted 29 December 2019, Available online 8 January 2020, Version of Record 16 January 2020.

论文官网地址：https://doi.org/10.1016/j.patcog.2019.107193