HoloSLAM: a novel approach to virtual landmark-based SLAM for indoor environments

Abstract

In this paper, we present HoloSLAM which is a novel solution to landmark detection issues in the simultaneous localization and mapping (SLAM) problem in autonomous robot navigation. The approach integrates real and virtual worlds to create a novel mapping robotic environment employing a mixed-reality technique and a sensor, namely Microsoft HoloLens. The proposed methodology allows the robot to interact and communicate with its new environment in real-time and overcome the limitations of conventional landmark-based SLAMs by creating and placing some virtual landmarks in situations where real landmarks are scarce, non-existent, or hard to be detected. The proposed approach enhances the robot’s perception and navigation capabilities in various robot environments. The overall process contributes to the robot’s more accurate understanding of its environment; thus, enabling it to navigate with greater efficiency and effectiveness. In addition, the newly implemented HoloSLAM offers the option to guide the robot to a specific location eliminating the need for explicit navigation instructions. The open-source framework proposed in this paper can benefit the robotics community by providing a more reliable, realistic, and robust mapping solution. The experiments show that the Ellipsoidal-HoloSLAM system is accurate and effectively overcomes the limitations of conventional Ellipsoidal-SLAMs, providing a more precise and detailed mapping of the robot’s environment.

An Audio-Based SLAM for Indoor Environments: A Robotic Mixed Reality Presentation

“…The estimated direction serves as observation data, and this became a standard bearing-only SLAM problem solely for guiding the robot to track the active speaker while localizing itself and creating a map of its environment. However, since there is a lack of additional information to perform a complete SLAM operation, the Ellipsoidal HoloSLAM algorithm [62] is employed. Ellipsoidal HoloSLAM addresses this problem by incorporating virtual landmarks into the mapping process, allowing for an accurate and realistic SLAM implementation without a need for an active predefined sound source locationprior to location.…”

“…HoloSLAM revolutionizes the landmark-based SLAM in autonomous robot navigation by merging the real and virtual worlds using Microsoft HoloLens and mixed-reality techniques [62]. It combines established methods to provide real-time environment construction and robot position tracking.…”

“…This breakthrough eliminates the need for real multi-sound sources, as virtual landmarks can be generated and placed in scenarios lacking physical landmarks. For detailed HoloSLAM implementation, please consult the reference [62].…”

“…Common extended reality devices include Microsoft HoloLens, Magic Leap One, Epson Moverio, and Google Glass, while popular VR choices encompass HTC Vive, Oculus Quest, Valve Index, and Sony PlayStation VR. Additionally, companies like Microsoft offer HMD display devices for mixed-reality production, alongside various smart glasses [62].…”