Determination of the Scale Factor in an Integrated Infrared and ORB-SLAM System
https://doi.org/10.32603/1993-8985-2026-29-2-64-78
Abstract
Introduction. Recent years have seen an increased interest in research on small autonomous vehicles, in which naviga-tion are the fundamental problems that must be addressed. In outdoor environments, the use of global satellite naviga-tion systems remains the optimum solution due to their wide coverage, high level of automation, and ease of use. How-ever, operation in unknown and GPS denied environments, such as indoor spaces, is still a relevant research problem. The Valve Lighthouse (LH) system has been proposed for guiding mobile platforms in confined spaces due to its autonomous operation, low cost, ease of deployment, and miniature onboard sensors, which are particularly suitable for small scale vehicles. Nevertheless, similar to other indoor localization sensors, the LH system does not allow the reconstruction of an unknown environment (i.e., obstacle detection), which may lead to collisions and potential damage to the vehicle. Therefore, integration with a mapping system is necessary. Currently, an optimal choice for small scale platforms is ORB SLAM based on a monocular camera. The main drawback of monocular camera based systems lies in their inability to determine the scale factor of the map. In this regard, this paper proposes an algorithm to estimate the map scale factor of the ORB SLAM system through its integration with an infrared system.
Aim. Determination of the map scale factor of the ORB SLAM system in an integrated infrared system.
Materials and methods. The proposed algorithm is based on an extended adaptive Kalman filter with a Sage window combined with a maximum likelihood estimation method.
Results. The proposed algorithm enables the determination of the map scale factor of the ORB SLAM system along each axis in real time. Conclusion. An algorithm is proposed to determine the map scale factor of the ORB SLAM system along each axis in real time within a system integrated with the Valve Lighthouse infrared system.
About the Authors
A. M. Boronakhin
Saint Petersburg Electrotechnical University
Russian Federation
Russian Federation
Alexander M. Boronakhin, Dr Sci. (Eng.) (2013), Professor (2020), Professor of the Department of Laser Measuring and Navigation Systems, Dean of the Faculty of Information Measuring and Biotechnical Systems. The author of more than 120 scientific publications. Area of expertise: development of inte-grated inertial technologies for dynamic monitoring of the rail track to ensure the safety of railway traffic.
5 F, Professor Popov St., St Petersburg 197022
Q. K. Nguyen
Le Quy Don Technical University
Viet Nam
Viet Nam
Nguyen Quoc Khanh, Engineer in Instrumentation Engineering (2020), Postgraduate student. The author of 11 scientific publications. Area of expertise: inertial navigation and orientation systems.
236, Hoang Quoc Viet, Co Nhue, Bac Tu Liem, Hanoi
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For citations:
Boronakhin A.M., Nguyen Q. Determination of the Scale Factor in an Integrated Infrared and ORB-SLAM System. Journal of the Russian Universities. Radioelectronics. 2026;29(2):64-78. (In Russ.) https://doi.org/10.32603/1993-8985-2026-29-2-64-78
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