학술논문
Simultaneous Localization and Mapping with Application to Monitoring of Underground Transportation Infrastructure
Document Type
Conference
Author
Source
2019 International Symposium on Advanced Electrical and Communication Technologies (ISAECT) Advanced Electrical and Communication Technologies (ISAECT), 2019 International Symposium on. :1-4 Nov, 2019
Subject
Language
Abstract
This paper presents the results of development, design and implementation of a Simultaneous Localization And Mapping (SLAM) system for autonomous real-time localization with application to Underground Transportation Infrastructure (UTI) such as tunnels. Localization is achieved in absence of any GPS or auxiliary system. The system is a necessary element of a fully autonomous platform for detection of cracks and other anomalies on the interior surfaces of tunnels and other UTI. It can be used for tagging of high-resolution sensor data obtained with low-cost prototype data acquisition platforms previously developed [1], [2]. Visual based SLAM has been used as the core element in an architecture also employing a Commercial Off The Shelf (COTS) ZED stereocamera from Stereolabs. To achieve real-time operation, an NVIDIA Jetson Tx2 massively parallel Graphic Processing Unit (GPU) has been used as the core computational engine employing two different software libraries. We achieved localization at 5 frames per second (fps) using ORBSLAM2 open source software library, while the much lighter but proprietary ZED SDK was able to deliver performance at nearly 60 fps.