A Simultaneous Localization and Mapping System for Intelligent Elderly Care Robot Based on Monocular Visual-Inertial-Encoder Fusion and ORB Feature Extraction

Zelong Zhang; Junyi Yuan; Shuai Shao; Kaoru Hirota; Yaping Dai

doi:10.1109/CCDC58219.2023.10326651

A Simultaneous Localization and Mapping System for Intelligent Elderly Care Robot Based on Monocular Visual-Inertial-Encoder Fusion and ORB Feature Extraction

Zelong Zhang, Junyi Yuan, Shuai Shao^*, Kaoru Hirota, Yaping Dai

^*此作品的通讯作者

自动化学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

A Simultaneous Localization And Mapping (SLAM) system based on tightly coupled monocular Visual-Inertial-Encoder fusion and Oriented FAST and Rotated BRIEF (ORB) feature extraction, called SLAM-VIE-ORB, is proposed to solve the cost and security problems of intelligent elderly care robot. It aims at achieving localization accuracy high enough to ensure the safety of users - the elderly, while the cost is as low as possible to meet the needs of promotion in the field of intelligent elderly care robot service as the application of the most basic localization technology. Experiments under indoor and outdoor real environments on Qiming 2 robot using the proposed system comparing with the lidar-based adaptive Monte Carlo localization (AMCL) and VINS-Mono show that the localization error of SLAM-VIE-ORB is 80% of ACML and 50% of VINS-Mono, while the cost of the system is one fifth of AMCL which is used for traditional intelligent elderly care robot localization. The system for localization in the indoor static environment to help the elderly living alone will be put into use in the near future.

源语言	英语
主期刊名	Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023
出版商	Institute of Electrical and Electronics Engineers Inc.
页	2129-2134
页数	6
ISBN（电子版）	9798350334722
DOI	https://doi.org/10.1109/CCDC58219.2023.10326651
出版状态	已出版 - 2023
活动	35th Chinese Control and Decision Conference, CCDC 2023 - Yichang, 中国期限: 20 5月 2023 → 22 5月 2023

出版系列

姓名	Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023

会议

会议	35th Chinese Control and Decision Conference, CCDC 2023
国家/地区	中国
市	Yichang
时期	20/05/23 → 22/05/23

访问文件

10.1109/CCDC58219.2023.10326651

其它文件与链接

链接到 Scopus 的出版物

引用此

Zhang, Z., Yuan, J., Shao, S., Hirota, K., & Dai, Y. (2023). A Simultaneous Localization and Mapping System for Intelligent Elderly Care Robot Based on Monocular Visual-Inertial-Encoder Fusion and ORB Feature Extraction. 在 Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023 (页码 2129-2134). (Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC58219.2023.10326651

Zhang, Zelong ; Yuan, Junyi ; Shao, Shuai 等. / A Simultaneous Localization and Mapping System for Intelligent Elderly Care Robot Based on Monocular Visual-Inertial-Encoder Fusion and ORB Feature Extraction. Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023. Institute of Electrical and Electronics Engineers Inc., 2023. 页码 2129-2134 (Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023).

@inproceedings{f9edb6d6f39b4da38a86ae4f4acba433,

title = "A Simultaneous Localization and Mapping System for Intelligent Elderly Care Robot Based on Monocular Visual-Inertial-Encoder Fusion and ORB Feature Extraction",

abstract = "A Simultaneous Localization And Mapping (SLAM) system based on tightly coupled monocular Visual-Inertial-Encoder fusion and Oriented FAST and Rotated BRIEF (ORB) feature extraction, called SLAM-VIE-ORB, is proposed to solve the cost and security problems of intelligent elderly care robot. It aims at achieving localization accuracy high enough to ensure the safety of users - the elderly, while the cost is as low as possible to meet the needs of promotion in the field of intelligent elderly care robot service as the application of the most basic localization technology. Experiments under indoor and outdoor real environments on Qiming 2 robot using the proposed system comparing with the lidar-based adaptive Monte Carlo localization (AMCL) and VINS-Mono show that the localization error of SLAM-VIE-ORB is 80% of ACML and 50% of VINS-Mono, while the cost of the system is one fifth of AMCL which is used for traditional intelligent elderly care robot localization. The system for localization in the indoor static environment to help the elderly living alone will be put into use in the near future.",

keywords = "elderly care, feature extraction, robot, simultaneous localization and mapping",

author = "Zelong Zhang and Junyi Yuan and Shuai Shao and Kaoru Hirota and Yaping Dai",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 35th Chinese Control and Decision Conference, CCDC 2023 ; Conference date: 20-05-2023 Through 22-05-2023",

year = "2023",

doi = "10.1109/CCDC58219.2023.10326651",

language = "English",

series = "Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2129--2134",

booktitle = "Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023",

address = "United States",

}

Zhang, Z, Yuan, J, Shao, S, Hirota, K & Dai, Y 2023, A Simultaneous Localization and Mapping System for Intelligent Elderly Care Robot Based on Monocular Visual-Inertial-Encoder Fusion and ORB Feature Extraction. 在 Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023. Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023, Institute of Electrical and Electronics Engineers Inc., 页码 2129-2134, 35th Chinese Control and Decision Conference, CCDC 2023, Yichang, 中国, 20/05/23. https://doi.org/10.1109/CCDC58219.2023.10326651

A Simultaneous Localization and Mapping System for Intelligent Elderly Care Robot Based on Monocular Visual-Inertial-Encoder Fusion and ORB Feature Extraction. / Zhang, Zelong; Yuan, Junyi; Shao, Shuai 等.
Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023. Institute of Electrical and Electronics Engineers Inc., 2023. 页码 2129-2134 (Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - A Simultaneous Localization and Mapping System for Intelligent Elderly Care Robot Based on Monocular Visual-Inertial-Encoder Fusion and ORB Feature Extraction

AU - Zhang, Zelong

AU - Yuan, Junyi

AU - Shao, Shuai

AU - Hirota, Kaoru

AU - Dai, Yaping

PY - 2023

Y1 - 2023

N2 - A Simultaneous Localization And Mapping (SLAM) system based on tightly coupled monocular Visual-Inertial-Encoder fusion and Oriented FAST and Rotated BRIEF (ORB) feature extraction, called SLAM-VIE-ORB, is proposed to solve the cost and security problems of intelligent elderly care robot. It aims at achieving localization accuracy high enough to ensure the safety of users - the elderly, while the cost is as low as possible to meet the needs of promotion in the field of intelligent elderly care robot service as the application of the most basic localization technology. Experiments under indoor and outdoor real environments on Qiming 2 robot using the proposed system comparing with the lidar-based adaptive Monte Carlo localization (AMCL) and VINS-Mono show that the localization error of SLAM-VIE-ORB is 80% of ACML and 50% of VINS-Mono, while the cost of the system is one fifth of AMCL which is used for traditional intelligent elderly care robot localization. The system for localization in the indoor static environment to help the elderly living alone will be put into use in the near future.

AB - A Simultaneous Localization And Mapping (SLAM) system based on tightly coupled monocular Visual-Inertial-Encoder fusion and Oriented FAST and Rotated BRIEF (ORB) feature extraction, called SLAM-VIE-ORB, is proposed to solve the cost and security problems of intelligent elderly care robot. It aims at achieving localization accuracy high enough to ensure the safety of users - the elderly, while the cost is as low as possible to meet the needs of promotion in the field of intelligent elderly care robot service as the application of the most basic localization technology. Experiments under indoor and outdoor real environments on Qiming 2 robot using the proposed system comparing with the lidar-based adaptive Monte Carlo localization (AMCL) and VINS-Mono show that the localization error of SLAM-VIE-ORB is 80% of ACML and 50% of VINS-Mono, while the cost of the system is one fifth of AMCL which is used for traditional intelligent elderly care robot localization. The system for localization in the indoor static environment to help the elderly living alone will be put into use in the near future.

KW - elderly care

KW - feature extraction

KW - robot

KW - simultaneous localization and mapping

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U2 - 10.1109/CCDC58219.2023.10326651

DO - 10.1109/CCDC58219.2023.10326651

M3 - Conference contribution

AN - SCOPUS:85181812876

T3 - Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023

SP - 2129

EP - 2134

BT - Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 35th Chinese Control and Decision Conference, CCDC 2023

Y2 - 20 May 2023 through 22 May 2023

ER -

Zhang Z, Yuan J, Shao S, Hirota K , Dai Y. A Simultaneous Localization and Mapping System for Intelligent Elderly Care Robot Based on Monocular Visual-Inertial-Encoder Fusion and ORB Feature Extraction. 在 Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023. Institute of Electrical and Electronics Engineers Inc. 2023. 页码 2129-2134. (Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023). doi: 10.1109/CCDC58219.2023.10326651

A Simultaneous Localization and Mapping System for Intelligent Elderly Care Robot Based on Monocular Visual-Inertial-Encoder Fusion and ORB Feature Extraction

摘要

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