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Remote Sens. 2019, 11(2), 149;

Rapid Relocation Method for Mobile Robot Based on Improved ORB-SLAM2 Algorithm

Key Laboratory of Advanced Manufacturing Technology of Ministry of Education, Guizhou University, Guiyang 550025, China
Authors to whom correspondence should be addressed.
Received: 24 November 2018 / Revised: 4 January 2019 / Accepted: 10 January 2019 / Published: 14 January 2019
(This article belongs to the Special Issue Mobile Mapping Technologies)
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In order to realize fast real-time positioning after a mobile robot starts, this paper proposes an improved ORB-SLAM2 algorithm. Firstly, we proposed a binary vocabulary storage method and vocabulary training algorithm based on an improved Oriented FAST and Rotated BRIEF (ORB) operator to reduce the vocabulary size and improve the loading speed of the vocabulary and tracking accuracy. Secondly, we proposed an offline map construction algorithm based on the map element and keyframe database; then, we designed a fast reposition method of the mobile robot based on the offline map. Finally, we presented an offline visualization method for map elements and mapping trajectories. In order to check the performance of the algorithm in this paper, we built a mobile robot platform based on the EAI-B1 mobile chassis, and we implemented the rapid relocation method of the mobile robot based on improved ORB SLAM2 algorithm by using C++ programming language. The experimental results showed that the improved ORB SLAM2 system outperforms the original system regarding start-up speed, tracking and positioning accuracy, and human–computer interaction. The improved system was able to build and load offline maps, as well as perform rapid relocation and global positioning tracking. In addition, our experiment also shows that the improved system is robust against a dynamic environment. View Full-Text
Keywords: ORB-SLAM2; binary vocabulary; small-scale vocabulary; rapid relocation ORB-SLAM2; binary vocabulary; small-scale vocabulary; rapid relocation

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Yang, G.; Chen, Z.; Li, Y.; Su, Z. Rapid Relocation Method for Mobile Robot Based on Improved ORB-SLAM2 Algorithm. Remote Sens. 2019, 11, 149.

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