Design and Implementation of Visual Simultaneous Localization and Mapping (VSLAM) Navigation System

Abstract

It is very important to guess the location of the redetected objects and loop closures with the visual simultaneous localization and mapping system (VSLAM), one of the biggest problems of a mobile robot. VSLAM makes it possible to eliminate and/or reduce these applications' errors and realize or improve the robot's direction and position correctly by creating a map of the environment. This study aims to achieve an autonomous indoor/outdoor navigation of a ground robot using VSLAM algorithm in an unknown environment using a monocular camera. In this context, the theoretical information was tested in real-world conditions. Performance of localization and loop closing were compared based on the results obtained by experiments