@inproceedings{08afe7122a10458cb09fa64f123a4fc5,
title = "Robust Approaches for Localization on Multi-camera Systems in Dynamic Environments",
abstract = "Localization of humanoid robots in real-life scenarios has to robustly tackle dynamic environments and provide coherent data and tight integration for follow-up tasks. However state-of-the-art solutions, like ORBSlam2 [1], lack this ability. In this work we present two adaptations of ORBSlam2 for a multi-camera setup on the DLR Rollin' Justin System, one distributed multi-slam and one combined single-process system. Further, we introduce the usage of pre-recorded maps with ORBSlam2 and the alignment with semantic maps for planning. We compare performance of the adaptations against and the original approach in realistic experiments and discuss advantages and disadvantages of all methods.",
keywords = "ORBSlam, SLAM, dynamic environments, localization, mapping, multi-camera SLAM",
author = "Marco Sewtz and Xiaozhou Luo and Johannes Landgraf and Tim Bodenmuller and Rudolph Triebel",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 International Conference on Automation, Robotics and Applications, ICARA 2021 ; Conference date: 04-02-2021 Through 06-02-2021",
year = "2021",
month = feb,
day = "4",
doi = "10.1109/ICARA51699.2021.9376475",
language = "English",
series = "2021 International Conference on Automation, Robotics and Applications, ICARA 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "211--215",
booktitle = "2021 International Conference on Automation, Robotics and Applications, ICARA 2021",
}