ON THE APPLICATION OF RGB-D SLAM SYSTEMS FOR PRACTICAL LOCALIZATION OF THE MOBILE ROBOTS.

This paper considers the practical application of the RGB-D Simultaneous Localization and Mapping (SLAM) techniques for localization of mobile robots. We attempt to answer the question: how the quality of the estimated sensor trajectory depends on the approach to RGB-D data processing in the SLAM system when RGB-D frames acquired on a real mobile robot are used. Experiments are performed on data obtained from robots of different classes, and from different environment types to present the problems characteristic to RGB-D data. Conclusions as to the robustness of particular architectures and solutions applied in SLAM are drawn on the basis of experimental results. Publicly available data sets and well-established performance metrics are used to ensure that the results are verifiable, reproducible and relevant. [ABSTRACT FROM AUTHOR]