ROBOT VECTOR OPERATING SYSTEM FOR LOCALIZATION AND MAPPING

Alexandra-Cătălina CIOCÎRLAN, Luige VLĂDĂREANU, Ionel-Alexandru GAL, Bianca Rodica GHINOIU, Cristina Marilena NIȚU, Marius PANDELEA, Mihaiela ILIESCU

Abstract


This paper explores the use of the Intel RealSense Depth Camera D455 in the context of localization, autonomous navigation, and mapping of complex environments. We investigated advanced methods for estimating the position and orientation of mobile robots, using depth data to build detailed and accurate maps. The Simultaneous Localization and Mapping (SLAM) algorithm implemented is based on the real-time detection of changes in the environment, ensuring continuous updating of the map. The robot vector, representing its state, is evaluated according to the robot trajectory, significantly influencing the performance of autonomous navigation. The results obtained demonstrate the efficiency of the proposed method in various test scenarios.

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References


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