Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

Relative Motion Analysis using Rotating Axes-Problem Solving

Relative Motion Analysis using Rotating Axes-Problem Solving

Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...

Vectors in Space: Problem Solving

Vectors in Space: Problem Solving

A chandelier suspended by multiple cables can be analyzed using principles of three-dimensional static equilibrium. In this setup, a chandelier weighing 1000 N is positioned at the origin of a three-dimensional coordinate system, while three ceiling anchor points are fixed at known locations above it. Each cable connects the chandelier to one anchor point and transmits a tensile force along its length.To find out the forces in the cables, the spatial direction of each cable must first be...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Deep self-attention reinforcement learning adaptive gait planning and control for lower limb rehabilitation exoskeletons robot.

iScience·2026

Same author

High-precision detection of wheel dimensions and tread wear using stereo vision and advanced 3D measurement algorithms for railway safety.

Applied optics·2026

Same author

Fatigue damage assessment of bogie frame based on an improved nonlinear cumulative damage model.

Scientific reports·2025

Same author

Research on train wheel point cloud registration algorithm based on key points by fusing Super-4PCS and ICP.

Scientific reports·2025

Same author

An Active Control Method for a Lower Limb Rehabilitation Robot with Human Motion Intention Recognition.

Sensors (Basel, Switzerland)·2025

Same author

An H-GrabCut Image Segmentation Algorithm for Indoor Pedestrian Background Removal.

Sensors (Basel, Switzerland)·2023

Search research articles

Related Experiment Video

Updated: Jul 10, 2026

Automated Visual Cognitive Tasks for Recording Neural Activity Using a Floor Projection Maze

Automated Visual Cognitive Tasks for Recording Neural Activity Using a Floor Projection Maze

Published on: February 20, 2014

W-VSLAM: A Visual Mapping Algorithm for Indoor Inspection Robots.

Dingji Luo¹, Yucan Huang¹, Xuchao Huang¹

¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Sensors (Basel, Switzerland)

|September 14, 2024

Summary

This summary is machine-generated.

This study introduces a visual SLAM method integrating wheel odometry for indoor robots, significantly improving mapping accuracy. The enhanced visual simultaneous localization and mapping (SLAM) system achieves superior precision in robot pose estimation for autonomous navigation.

Keywords:

V-SLAM indoor inspection robots multi-sensor fusion

More Related Videos

Visualization Method for Proprioceptive Drift on a 2D Plane Using Support Vector Machine

Visualization Method for Proprioceptive Drift on a 2D Plane Using Support Vector Machine

Published on: October 27, 2016

Author Spotlight: Efficient Image Recognition Using Directional Gradient Histogram Technique and Support Vector Machines

Author Spotlight: Efficient Image Recognition Using Directional Gradient Histogram Technique and Support Vector Machines

Published on: January 5, 2024

Related Experiment Videos

Last Updated: Jul 10, 2026

Automated Visual Cognitive Tasks for Recording Neural Activity Using a Floor Projection Maze

Automated Visual Cognitive Tasks for Recording Neural Activity Using a Floor Projection Maze

Published on: February 20, 2014

Visualization Method for Proprioceptive Drift on a 2D Plane Using Support Vector Machine

Visualization Method for Proprioceptive Drift on a 2D Plane Using Support Vector Machine

Published on: October 27, 2016

Author Spotlight: Efficient Image Recognition Using Directional Gradient Histogram Technique and Support Vector Machines

Author Spotlight: Efficient Image Recognition Using Directional Gradient Histogram Technique and Support Vector Machines

Published on: January 5, 2024

Area of Science:

Robotics
Computer Vision
Artificial Intelligence

Background:

Indoor inspection robots require high-precision environmental perception for mapping.
Existing visual-inertial systems face inaccuracies from redundant pose degrees of freedom and accelerometer drift.

Purpose of the Study:

To develop a robust visual SLAM perception method integrating wheel odometry for indoor mobile robots.
To address inaccuracies in visual-inertial estimation for improved robotic mapping and localization.

Main Methods:

Parameterizing robot body pose in SE(2) and camera pose in SE(3).
Deriving visual and pose-constraint residuals and Jacobian matrices using pre-integration and marginalization theory.
Solving nonlinear optimization for optimal robot pose and landmark points.

Main Results:

The proposed method significantly outperforms ORBSLAM3 in perception accuracy.
Achieved root mean square error (RMSE) improvements of 89.2% in translation and 98.5% in rotation for absolute trajectory error (ATE).
Demonstrated overall trajectory localization accuracy between 5 and 17 cm.

Conclusions:

The integrated visual SLAM approach enhances perception accuracy for indoor mobile robots.
The method provides a reliable basis for preliminary mapping and path planning in autonomous navigation.
Validated effectiveness for precise localization in complex indoor environments.