Abstract

    Open Access Research Article Article ID: TCSIT-7-150

    OG-SLAM: A real-time and high-accurate monocular visual SLAM framework

    Boyu Kuang*, Yuheng Chen and Zeeshan A Rana

    The challenge of improving the accuracy of monocular Simultaneous Localization and Mapping (SLAM) is considered, which widely appears in computer vision, autonomous robotics, and remote sensing. A new framework (ORB-GMS-SLAM (or OG-SLAM)) is proposed, which introduces the region-based motion smoothness into a typical Visual SLAM (V-SLAM) system. The region-based motion smoothness is implemented by integrating the Oriented Fast and Rotated Brief (ORB) features and the Grid-based Motion Statistics (GMS) algorithm into the feature matching process. The OG-SLAM significantly reduces the absolute trajectory error (ATE) on the key-frame trajectory estimation without compromising the real-time performance. This study compares the proposed OG-SLAM to an advanced V-SLAM system (ORB-SLAM2). The results indicate the highest accuracy improvement of almost 75% on a typical RGB-D SLAM benchmark. Compared with other ORB-SLAM2 settings (1800 key points), the OG-SLAM improves the accuracy by around 20% without losing performance in real-time. The OG-SLAM framework has a significant advantage over the ORB-SLAM2 system in that it is more robust for rotation, loop-free, and long ground-truth length scenarios. Furthermore, as far as the authors are aware, this framework is the first attempt to integrate the GMS algorithm into the V-SLAM.

    Keywords:

    Published on: Jul 26, 2022 Pages: 47-54

    Full Text PDF Full Text HTML DOI: 10.17352/tcsit.000050
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