Design of a monocular simultaneous localisation and mapping system with ORB feature

摘要

Vision-based Simultaneous Localisation and Mapping (Visual SLAM) is a new hot topic in intelligent robotic applications. A new method for the implementation of a visual SLAM system with monocular vision is proposed in this paper. The general framework of our system is first displayed, and then all the main sub-processes are described step by step. In our design we use the ORB feature to represent each natural landmark with an improved map management and modified covariance extended Kalman filter (MVEKF) to estimate the 6D pose of a free-moving camera. In order to validate and demonstrate the performance of the system, some related experiments are carried out. The experimental results show that our method is feasible, robust and efficient.