Performance Comparison of Direct and Feature Based vSLAM Algorithms

Simsek B., Satir S., Bilge H. Ş.

29th IEEE Conference on Signal Processing and Communications Applications (SIU), ELECTR NETWORK, 9 - 11 Haziran 2021 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/siu53274.2021.9478029
  • Basıldığı Ülke: ELECTR NETWORK
  • Anahtar Kelimeler: vSLAM, feature based methods, direct methods, GNSS denied environment, unmanned systems, SIMULTANEOUS LOCALIZATION, SLAM
  • Gazi Üniversitesi Adresli: Evet

Özet

One of the indispensable technologies for unmanned systems to manage their acts is navigation technologies. In environments where GNSS (Global Navigation Satellite Systems) signals cannot be received, unmanned systems are able to perform their duty by using some GNSS independent technologies. One of these technologies is the visual simultaneous localization and mapping method. In this study, visual simultaneous localization and mapping algorithms which are prominent in the literature have been tried in our own dataset and their strengths and aspects that need to be developed have been examined.