Proceedings of the 7th International Conference on Applied Engineering (ICAE 2024)

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Periodic Bundle Adjustment to Mitigate Drift Error in ORB-SLAM3 for Autonomous Vehicle

Authors
Hilda Widyastuti1, 2, *, Bambang R. Trilaksono1, Egi Muhammad Idris Hidayat1, Widyawardana Adiprawita1
1School of Electrical Engineering and Informatics, Institut Teknologi Bandung, Bandung, Indonesia
2Politeknik Negeri Batam, Batam, Indonesia
*Corresponding author. Email: 33218013@std.stei.itb.ac.id
Corresponding Author
Hilda Widyastuti
Available Online 25 December 2024.
DOI
10.2991/978-94-6463-620-8_21How to use a DOI?
Keywords
ORB-SLAM3; Autonomous Vehicle; Optimization
Abstract

Visual SLAM systems commonly encounter challenges with drift errors arising from incremental position estimations between frames. As autonomous vehicles traverse longer distances, these systems are prone to an accumulation of drift errors. ORB-SLAM3 mitigates this issue through optimizations applied to motion-only bundle adjustment, local bundle adjustment, and full bundle adjustment. Once loop closure is detected, the full bundle adjustment optimizes all positional and landmark data; however, in situations where loop closure does not occur or occurs over extended distances, resulting in a significant accumulation of drift errors. An additional optimization trigger, independent of loop closure, must address this. This study proposes the periodic bundle adjustment method, which optimizes the system based on the number of keyframes. Implementing this method within ORB-SLAM3 reduces the RMSE APE value compared to ORB-SLAM3 without periodic bundle adjustment on the KITTI Odometry dataset.

Copyright
© 2024 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title
Proceedings of the 7th International Conference on Applied Engineering (ICAE 2024)
Series
Advances in Engineering Research
Publication Date
25 December 2024
ISBN
978-94-6463-620-8
ISSN
2352-5401
DOI
10.2991/978-94-6463-620-8_21How to use a DOI?
Copyright
© 2024 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Hilda Widyastuti
AU  - Bambang R. Trilaksono
AU  - Egi Muhammad Idris Hidayat
AU  - Widyawardana Adiprawita
PY  - 2024
DA  - 2024/12/25
TI  - Periodic Bundle Adjustment to Mitigate Drift Error in ORB-SLAM3 for Autonomous Vehicle
BT  - Proceedings of the  7th International Conference on Applied Engineering (ICAE 2024)
PB  - Atlantis Press
SP  - 272
EP  - 286
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-620-8_21
DO  - 10.2991/978-94-6463-620-8_21
ID  - Widyastuti2024
ER  -