Novel Orb Slam System for Robot Navigation in Real-Time

Robot navigation is a challenging area of research due to various physical, hardware, and software issues. In this research, an autonomous robot system has been developed, which incorporates a visual inertial SLAM system. Mapping and state estimation rely on the accuracy acquired from fusing the data from the cameras and inertial measurement units (IMU). The fusion of these two sensors makes SLAM systems more accurate and robust. This system is based on the ORB SLAM 3 algorithm, and we have conducted extensive comparison between monocular, monocular-inertial, stereo and stereo-inertial configurations. The results were evaluated on benchmark datasets such EuRoC and TUM.