title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ SLAM-Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð², Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð½ÑÑ Ð½Ð° Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ð¸ 3D-ÐºÐ°Ð¼ÐµÑÑ Ð³Ð»ÑÐ±Ð¸Ð½Ñ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Research of SLAM algorithms based on 3D depth camera usage
Creators: name: Ð¥ÑÐ´ÑÐºÐ¾Ð², ÐÐ½Ð´ÑÐµÐ¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð²Ð¸Ð·ÑÐ°Ð»ÑÐ½ÑÐ¹ SLAM
Gazebo
ROS
ÐºÐ°Ð¼ÐµÑÐ° RGB-D
RTAB-Map
ORB-SLAM3
visual SLAM
RGB-D camera

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¸ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ SLAM-Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ ÐºÐ°Ð¼ÐµÑ Ð³Ð»ÑÐ±Ð¸Ð½Ñ RGB-D. Ð ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐµÑÐ°Ð»Ð¸ÑÑ ÑÐ»ÐµÐ´ÑÑÑÐ¸Ðµ Ð·Ð°Ð´Ð°ÑÐ¸: 1. ÐÐ·ÑÑÐµÐ½Ð¸Ðµ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½ÑÑ Ð¿Ð°ÐºÐµÑÐ¾Ð² Ð´Ð»Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ ÐºÐ°Ð¼ÐµÑÑ Ð³Ð»ÑÐ±Ð¸Ð½Ñ Ð¸ Ð²Ð½ÐµÑÐ½ÐµÐ¹ ÑÑÐµÐ´Ñ. 2. ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ Ð²ÑÐ±Ð¾Ñ Ð°ÐºÑÑÐ°Ð»ÑÐ½ÑÑ SLAM-Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð², Ð¿ÑÐ¸Ð¼ÐµÐ½Ð¸Ð¼ÑÑ Ñ ÐºÐ°Ð¼ÐµÑÐ¾Ð¹ Ð³Ð»ÑÐ±Ð¸Ð½Ñ. 3. Ð ÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ° Ñ ÐºÐ°Ð¼ÐµÑÐ¾Ð¹ Ð³Ð»ÑÐ±Ð¸Ð½Ñ Ð¸ Ð²Ð½ÐµÑÐ½ÐµÐ¹ ÑÑÐµÐ´Ñ. 4. ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¿Ð°ÐºÐµÑÐ¾Ð², Ð¿ÑÐµÐ´Ð½Ð°Ð·Ð½Ð°ÑÐµÐ½Ð½ÑÑ Ð´Ð»Ñ ÑÐ°Ð±Ð¾ÑÑ Ñ ÐºÐ°Ð¼ÐµÑÐ¾Ð¹ Ð³Ð»ÑÐ±Ð¸Ð½Ñ Realsense Ð¸ Ð¿ÑÐ¾Ð²ÐµÑÐºÐ° ÑÐ°Ð±Ð¾ÑÑ ÐºÐ°Ð¼ÐµÑÑ. 5. ÐÐ°ÑÑÑÐ¾Ð¹ÐºÐ° Ð¸ Ð·Ð°Ð¿ÑÑÐº Ð²ÑÐ±ÑÐ°Ð½Ð½ÑÑ SLAM-Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð½Ð° ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ ÑÐ¸Ð¿Ð°Ñ Ð²ÑÐ¾Ð´Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ. 6. ÐÐ·ÑÑÐµÐ½Ð¸Ðµ Ð¼ÐµÑÑÐ¸Ðº Ð´Ð»Ñ Ð¾ÑÐµÐ½ÐºÐ¸ SLAM Ð¸ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ Ð²ÑÐ±ÑÐ°Ð½Ð½ÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ð½Ð° Ð¸Ñ Ð¾ÑÐ½Ð¾Ð²Ðµ. ÐÐ°Ð½Ð½Ð¾Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¸Ð»Ð¾ÑÑ Ð² ÑÐ°Ð¼ÐºÐ°Ñ ÑÐ°Ð±Ð¾Ñ Ð»Ð°Ð±Ð¾ÑÐ°ÑÐ¾ÑÐ¸Ð¸ ÐÐ¡ÐÐÐ Ð¿ÐµÑÐµÐ´Ð¾Ð²Ð¾Ð¹ Ð¸Ð½Ð¶ÐµÐ½ÐµÑÐ½Ð¾Ð¹ ÑÐºÐ¾Ð»Ñ Ð¡ÐÐ±ÐÐ£ Â«Ð¦Ð¸ÑÑÐ¾Ð²Ð¾Ð¹ Ð¸Ð½Ð¶Ð¸Ð½Ð¸ÑÐ¸Ð½Ð³Â»; Ð² ÑÐ°Ð±Ð¾ÑÐµ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð»Ð°ÑÑ Ð¿ÑÐµÐ´Ð¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð½Ð°Ñ Ð»Ð°Ð±Ð¾ÑÐ°ÑÐ¾ÑÐ¸ÐµÐ¹ ÐºÐ°Ð¼ÐµÑÐ° Ð³Ð»ÑÐ±Ð¸Ð½Ñ Intel Realsense D435; ÑÐ°ÐºÐ¶Ðµ Ð±ÑÐ»Ð° Ð½Ð°ÑÑÑÐ¾ÐµÐ½Ð° Ð¼Ð¾Ð´ÐµÐ»Ñ ÐºÐ°Ð¼ÐµÑÑ. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÑÐ°Ð±Ð¾ÑÑ ÑÑÐ°Ð²Ð½ÐµÐ½Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐµ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ SLAM-Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸ÐµÐ¼ ÐºÐ°Ð¼ÐµÑÑ Realsense, Ð¼Ð¾Ð´ÐµÐ»ÑÑ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ Ð¸ Ð³Ð¾ÑÐ¾Ð²ÑÑ Ð´Ð°ÑÐ°ÑÐµÑÐ°Ñ. ÐÑÐ»Ð¾ Ð²ÑÑÐ²Ð»ÐµÐ½Ð¾, ÑÑÐ¾ Ð² Ð±Ð¾Ð»ÑÑÐ¸Ð½ÑÑÐ²Ðµ ÑÐ»ÑÑÐ°ÐµÐ² Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ ÑÐ¾ÑÐ½Ð¾Ð¹ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸ÐµÐ¹ ÑÐ²Ð»ÑÐµÑÑÑ ORB-SLAM3.
description: The following work is devoted to researching and comparing various SLAM algorithms based on depth cameras. The work consisted of solving the following tasks: 1. Research of available software for modeling the depth camera and the external environment. 2. Analyzing and choosing topical SLAM algorithms applicable for use with a depth camera. 3. Modeling a robot with a depth camera along with an external environment. 4. Research of libraries for use with a Realsense series depth camera and debugging the camera for following use. 5. Setup and launch of SLAM algorithms with various types of inputs. 6. Research of metrics for SLAM evaluation and comparison of SLAM algorithms on their basis. This work was done as a part of research done by the PSPOD lab of SPbPU advanced engineering school âDigital engineeringâ. The camera used was an Intel Realsense D435 depth camera provided by the lab; a model of the camera was configured as well. The result of the work consists of comparing various SLAM algorithms with the usage of a physical Realsense camera, its model, and various datasets. In the majority of the cases, the ORB-SLAM3 algorithm proved to be the most precise.