Browsing by Author "Tatyana Tsoy"

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    Comparison of ROS-Based Monocular Visual SLAM Methods: DSO, LDSO, ORB-SLAM2 and DynaSLAM
    (2020-01-01) Eldar Mingachev; Roman Lavrenov; Tatyana Tsoy; Fumitoshi Matsuno; Mikhail Svinin; Jackrit Suthakorn; Evgeni Magid; Ritsumeikan University Biwako-Kusatsu Campus; Kazan Federal University; Mahidol University; Kyoto University
    © 2020, Springer Nature Switzerland AG. Stable and robust path planning of a ground mobile robot requires a combination of accuracy and low latency in its state estimation. Yet, state estimation algorithms should provide these under computational and power constraints of a robot embedded hardware. The presented study offers a comparative analysis of four cutting edge publicly available within robot operating system (ROS) monocular simultaneous localization and mapping methods: DSO, LDSO, ORB-SLAM2, and DynaSLAM. The analysis considers pose estimation accuracy (alignment, absolute trajectory, and relative pose root mean square error) and trajectory precision of the four methods at TUM-Mono and EuRoC datasets.