Bridging the Gap Between Visual Servoing and Visual SLAM: A Novel Integrated Interactive Framework

Li, Chenping; Zhang, Xuebo; Gao, Haiming; Wang, Runhua

doi:10.1109/tase.2021.3067792

Cited by 15 publications

(2 citation statements)

References 49 publications

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“…Nonlinear Optimization (NRO) is employed to minimize the constructed objective function. The application effectiveness is further enhanced through the integration of Mixed Manhattan World Hypothesis (MMWH) and Local Map Optimization (LMO) [19][20][21]. The workflow of the OMFF-SLAM algorithm is illustrated in Fig 1.…”

Section: Plos Onementioning

confidence: 99%

Vision SLAM algorithm for wheeled robots integrating multiple sensors

Zhou,

Zhou

2024

PLoS ONE

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Wheeled robots play a crucial role in driving the autonomy and intelligence of robotics. However, they often encounter challenges such as tracking loss and poor real-time performance in low-texture environments. In response to these issues, this research proposes a real-time localization and mapping algorithm based on the fusion of multiple features, utilizing point, line, surface, and matrix decomposition characteristics. Building upon this foundation, the algorithm integrates multiple sensors to design a vision-based real-time localization and mapping algorithm for wheeled robots. The study concludes with experimental validation on a two-wheeled robot platform. The results indicated that the multi-feature fusion algorithm achieved the highest average accuracy in both conventional indoor datasets (84.57%) and sparse-feature indoor datasets (82.37%). In indoor scenarios, the vision-based algorithm integrating multiple sensors achieved an average accuracy of 85.4% with a processing time of 64.4 ms. In outdoor scenarios, the proposed algorithm exhibited a 14.51% accuracy improvement over a vision-based algorithm without closed-loop detection. In summary, the proposed method demonstrated outstanding accuracy and real-time performance, exhibiting favorable application effects across various practical scenarios.

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Section: Plos Onementioning

confidence: 99%

Vision SLAM algorithm for wheeled robots integrating multiple sensors

Zhou,

Zhou

2024

PLoS ONE

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“…Mobile robot navigation can be solved using three different approaches, i.e., geometric navigation, topological navigation, and semantic navigation. As a well-known geometric navigation way, SLAM [31,32] has been popularly adopted to generate metric maps, which are used to guide the robot for moving through the map with metric path planners. For instance, SLAM has been used together with rapidly-exploring random tree (RTT) planning and Monte Carlo localization to navigate a mobile robot in indoor environments [33].…”

Section: Navigation and Path Planning Implementationmentioning

confidence: 99%

Smart Cleaner: A New Autonomous Indoor Disinfection Robot for Combating the COVID-19 Pandemic

Ruan

2021

Robotics

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The COVID-19 pandemic imposes an increasing demand for service robots as a substitute for humans to conduct various types of work in contaminated areas. Such work includes logistics, patient care, and disinfection, which can reduce the risk of human exposure to the highly contagious and deadly virus. This paper presents the design and development of Smart Cleaner, which is a new cost-effective autonomous indoor disinfection robot. It integrates a wheeled mobile robot platform and a hydrogen peroxide atomization device for automated disinfection operation in the complex indoor environment. Through the system integration of various hardware components and software programming, a prototype of the disinfection robot has been fabricated for experimental investigation. A simulation study of the drymist hydrogen peroxide disinfection model was carried out to understand the diffusion of disinfectant in a room environment. The effectiveness of the developed robot was verified in practical scenarios, such as hospital, hotel, office, and laboratory. The effect of disinfection was validated by a qualified third-party testing agency. Results demonstrate the high efficiency of the developed disinfection robot dedicated to autonomous indoor disinfection work.

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