Abstract
Perception is one of the key components of autonomous vehicle. Autonomous vehicle percepts the environment before it decides what to do next. Inaccurate perception can cause wrong motion planning and accident, e.g. inaccurate localization for position estimation using GNSS (Global Navigation Satellite System) if it is implemented in closed area such as under the tree or inside a building. In this paper, an alternative method will be introduced to get an accurate localization of autonomous vehicle in various environment condition by using Visual Simultaneous Localization and Mapping (V-SLAM) approach. For this purpose, ORB (Oriented FAST and Rotated BRIEF) will be applied as mapping method combined with RGBD depth camera as a sensor. ORB-SLAM2 method is used due to its computing speed and accuracy which are significant factors for implementing perception mechanism in an autonomous vehicle. Experimental investigation for controlling a golf cart integrated with ORB-SLAM2 method for perception mechanism has been conducted to observe the potential and performance of the proposed method.
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