Abstract
Recognition and mapping is the key innovation to rising technology, for example, intelligent robotic systems and autonomous driving. Our goal is to provide a robot with systems that will aid its recognition and mapping of its environment for better locomotion and navigation. In the case of navigation, we use homography on a semantic segmentation to build an occupancy grid. For localization of the camera, the ORBSLAM2 is used, pose estimation is used to improve the robustness of the tracking over the period of time and also results in a better environment reconstruction. Monocular camera-based occupancy grid construction was developed, and our trial results have indicated great execution of our algorithms under testing it in a real-world environment.
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Acknowledgements
The authors would like to express their sincere thanks and deep sense of gratitude to their project guide, Dr. Reena Monica, Associate Professor, School of Electronics Engineering, VIT Chennai, for her consistent encouragement and valuable guidance offered to us throughout the course of the project work.
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Aswath, M., Thyagarajan, A.K., Noel, S.M., Ramesh, N.N., Monica, P.R. (2022). Autonomous Wheeled Bot with Monocular Camera. In: Sivasubramanian, A., Shastry, P.N., Hong, P.C. (eds) Futuristic Communication and Network Technologies. VICFCNT 2020. Lecture Notes in Electrical Engineering, vol 792. Springer, Singapore. https://doi.org/10.1007/978-981-16-4625-6_46
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DOI: https://doi.org/10.1007/978-981-16-4625-6_46
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