![]() ![]() In addition, the Robot Operating System (ROS) visualization tools are used to overlay real-time current camera poses and observations (virtual laser scans) on the OGM. The 2D OGM is built with the 3D camera poses estimated by Visual SLAM (vSLAM) and laser scans extracted from the point cloud observed by the camera from those poses. ![]() In addition to the sparse feature map that is maintained by ORB SLAM itself, a new 2D mapping module is developed to build and maintain an additional 2D Occupancy Grid Map (OGM). By improving an ORB RGB-D SLAM with Occupancy Grid Mapping, this paper proposes a new indoor RTLS that can be readily adapted and deployed for a broad range of indoor locating applications while overcoming the limitations faced by current solutions. Current Real-Time Locating Systems (RTLS) typically deployed in indoor built environments are generally based on wireless technologies, fixed cameras, or Lidar-based Simultaneous Localization and Mapping (SLAM), which generally suffer from the drawbacks of low accuracy, reliance on existing infrastructures that may be not available in the deployed environments, labor-intensive environment instrumentation, or economic infeasibility for wide deployment.
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