Monocular ORB-SLAM and Pose Retrieval for Autonomous Driving

Youssef Al-Ozaibi, Georges Chahine, Oussama El-Hamzaoui

Abstract: Autonomous smart cars are an integral part of smart cities. This paper partly addresses the localization and mapping challenges that need to be addressed in order to autonomously control the movement of a car. Further, we explore multiple use-cases such as camera pose retrieval, thermal visual SLAM, and GPS-constrained Visual SLAM. Finally, we conduct our experiments using the classic and our own, modified version of ORB-SLAM, using both the KITTI Dataset and our own datasets, recorded using Valeo's autonomous car prototypes.