Visual simultaneous localization and mapping with direct orientation change measurements

Abstract

This paper presents an extension of the visual simultaneous localization and mapping (VSLAM) system with the direct measurements of the robot’s orientation change. Four different sources of the additionalmeasurementswere considered: visual odometry using both the 5-point [10, 15] and 8-point algorithm [9], wheel odometry and InertialMeasurement Unit (IMU) measurements. The accuracy of the proposed system was compared with the accuracy of the canonical MonoSLAM [7]. The introduction of the additional measurements allowed to reduce the mean error by 17%.