ORB-SLAM3 on Various Physical Robots using ROS2
Date:
SLAM, ROS2, Robotics
Project Member
• Modernized the ORB-SLAM3 framework for compatibility with Ubuntu 20.04 and ROS2, enabling deployment on contemporary robotic platforms.
• Deployed the implementation on diverse robotic platforms including wheeled, aerial, and quadruped robots.
• Performed real-world localization and mapping tasks, demonstrating robust SLAM performance across different robot morphologies.
• Successfully integrated visual-inertial odometry for enhanced tracking accuracy in dynamic environments.