Mobile platform navigation software library, complementing the traditional SLAM with vision-based accurate localization

The aim of this exploitable result is to provide a mobile platform navigation library that will enhance the existing SLAM based navigation solutions, using vision-based data, for the localization purposes of the platform. Sensor fusion of 2D laser scanner data with 3D sensor data and other available sensors will be realized for augmenting the limited performance of existing 2D based approaches, enhancing the available information on the environment’s real time status. Higher accuracy on the navigation system will be achieved through fiducial based visual servoing techniques.