Short-range Lidar SLAM utilizing localization data of monocular localization

Abstract Simultaneous localization and mapping (SLAM) is a widely used technology in autonomous mobile robots, where sensors such as Lidar or cameras are typically used. Sensor fusion using multiple has been employed to compensate for the shortcomings of each sensor SLAM. However, cost cannot be ignored when considering its practical usage. Therefore, this study aims at realizing high-precision SLAM switching system, combining low-cost sensors. The system consists monocular localization. Since short laser range, degeneracy often occurs due fact that they capture features while building maps. proposed uses data from ensure precision regions occurs. was evaluated through simulation assuming museum environment occurred. accuracy robot trajectory built map proved effectiveness system.