Abstract

Room mapping and localization of mobile robots is an important and fundamental problem in robotics research. Environmental perception and identification of the robot's position and orientation to a global coordinate are basic prerequisites for autonomous navigation on mobile robots. In situations where autonomous mobile robots must operate in an unknown environment, localization and mapping are required simultaneously. Thus, simultaneous localization and mapping (SLAM) on mobile robots in unknown environments has become a topic that is widely discussed due to its important theoretical value and possible application. The SLAM is considered the key to realizing the autonomous mobile robot. This also applies to domestic service robots (DSR) that operate in a dynamic environment. In order to accomplish its duties in this dynamic environment, DSR must be able to recognize the environment and the various changes that occur around it. In this paper, we develop the domestic service robots (DSR) and implement SLAM that is based on visual information captured from the RGB-D (i.e., color and depth) camera combined with an inertial measurement unit (IMU). To test the developed systems, we have conducted several experiments. As the preliminary study, we achieved good results.

Original languageEnglish
Title of host publicationProceedings of the 2021 International Conference on Computer, Control, Informatics and Its Applications - Learning Experience
Subtitle of host publicationRaising and Leveraging the Digital Technologies During the COVID-19 Pandemic, IC3INA
PublisherAssociation for Computing Machinery
Pages182-186
Number of pages5
ISBN (Electronic)9781450385244
DOIs
Publication statusPublished - 5 Oct 2021
Event2021 International Conference on Computer, Control, Informatics and Its Applications - Learning Experience: Raising and Leveraging the Digital Technologies During the COVID-19 Pandemic, IC3INA - Virtual, Online, Indonesia
Duration: 5 Oct 20217 Oct 2021

Publication series

NameACM International Conference Proceeding Series

Conference

Conference2021 International Conference on Computer, Control, Informatics and Its Applications - Learning Experience: Raising and Leveraging the Digital Technologies During the COVID-19 Pandemic, IC3INA
Country/TerritoryIndonesia
CityVirtual, Online
Period5/10/217/10/21

Keywords

  • IMU sensor
  • RGB-D camera
  • SLAM
  • robot localization
  • room mapping

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