Version 1
: Received: 16 November 2022 / Approved: 17 November 2022 / Online: 17 November 2022 (09:59:43 CET)
How to cite:
Basiri, A.; Mariani, V.; Neyestani, A.; Glielmo, L. Improving Visual SLAM by Combining SVO and ORB-SLAM2 with a Complimentary Filter to Enhance Indoor Mini-Drone Localization Under Varying Conditions. Preprints2022, 2022110333. https://doi.org/10.20944/preprints202211.0333.v1
Basiri, A.; Mariani, V.; Neyestani, A.; Glielmo, L. Improving Visual SLAM by Combining SVO and ORB-SLAM2 with a Complimentary Filter to Enhance Indoor Mini-Drone Localization Under Varying Conditions. Preprints 2022, 2022110333. https://doi.org/10.20944/preprints202211.0333.v1
Basiri, A.; Mariani, V.; Neyestani, A.; Glielmo, L. Improving Visual SLAM by Combining SVO and ORB-SLAM2 with a Complimentary Filter to Enhance Indoor Mini-Drone Localization Under Varying Conditions. Preprints2022, 2022110333. https://doi.org/10.20944/preprints202211.0333.v1
APA Style
Basiri, A., Mariani, V., Neyestani, A., & Glielmo, L. (2022). Improving Visual SLAM by Combining SVO and ORB-SLAM2 with a Complimentary Filter to Enhance Indoor Mini-Drone Localization Under Varying Conditions. Preprints. https://doi.org/10.20944/preprints202211.0333.v1
Chicago/Turabian Style
Basiri, A., Arman Neyestani and Luigi Glielmo. 2022 "Improving Visual SLAM by Combining SVO and ORB-SLAM2 with a Complimentary Filter to Enhance Indoor Mini-Drone Localization Under Varying Conditions" Preprints. https://doi.org/10.20944/preprints202211.0333.v1
Abstract
Mini-drones can be used for a variety of tasks, such as weather monitoring, package delivery, search and rescue, and recreation. Their uses are mostly restricted to outside locations with access to the Global Positioning System (GPS) and/or similar systems since their usefulness, safety, and performance substantially rely on ubiquitously accurate positioning and navigation. Indoor localization is getting better, thanks to technologies like Visual Simultaneous Localization and Mapping (V-SLAM). However, more advancements are still required for mini-drone navigation applications with greater safety standards. In this research, a novel method for enhancing indoor mini-drone localization performance is proposed. By merging Oriented Rotated Brief SLAM (ORB-SLAM2), Semi-Direct Monocular Visual Odometry (SVO), and an Adaptive Complementary Filter, the suggested strategy improves V-SLAM approaches (ACF). The findings demonstrate that, when compared to other widely-used indoor localization algorithms, the suggested methodology performs better at estimating location under various situations (low light, low texture, and dynamic environments).
Keywords
Visual SLAM; Indoor positioning; Mini-drone
Subject
Engineering, Control and Systems Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
