Localization and Navigation System for Indoor Mobile Robot

by   Yanbaihui Liu, et al.

Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic indoor environment, how to improve indoor navigation robot localization and navigation accuracy so that they guide the visually impaired well becomes a problem. One way is to use visual SLAM. However, typical visual SLAM either assumes a static environment, which may lead to less accurate results in dynamic environments or assumes that the targets are all dynamic and removes all the feature points above, sacrificing computational speed to a large extent with the available computational power. This paper seeks to explore marginal localization and navigation systems for indoor navigation robotics. The proposed system is designed to improve localization and navigation accuracy in highly dynamic environments by identifying and tracking potentially moving objects and using vector field histograms for local path planning and obstacle avoidance. The system has been tested on a public indoor RGB-D dataset, and the results show that the new system improves accuracy and robustness while reducing computation time in highly dynamic indoor scenes.


page 4

page 8


A RGB-D SLAM Algorithm for Indoor Dynamic Scene

Visual slam technology is one of the key technologies for robot to explo...

Indoor Navigation Assistance for Visually Impaired People via Dynamic SLAM and Panoptic Segmentation with an RGB-D Sensor

Exploring an unfamiliar indoor environment and avoiding obstacles is cha...

Autonomous bot with ML-based reactive navigation for indoor environment

Local or reactive navigation is essential for autonomous mobile robots w...

Implementation of a Blind navigation method in outdoors/indoors areas

Based on WHO statistics, many individuals are suffering from visual prob...

NavigationNet: A Large-scale Interactive Indoor Navigation Dataset

Indoor navigation aims at performing navigation within buildings. In sce...

DECISIVE Test Methods Handbook: Test Methods for Evaluating sUAS in Subterranean and Constrained Indoor Environments, Version 1.1

This handbook outlines all test methods developed under the Development ...

Robot Patrol: Using Crowdsourcing and Robotic Systems to Provide Indoor Navigation Guidance to The Visually Impaired

Indoor navigation is a challenging activity for persons with disabilitie...

Please sign up or login with your details

Forgot password? Click here to reset