2022 IB Diploma Extended Essays

curve’s the more accurate the robot is while doing autonomous navigation. In contrast to the LiDAR pose, ZEDfu presents more errors, while it generally follows the same shape as the LiDAR, there are some rough changes in gradient. Indicative of the robot needing to correct itself within the x coordinates. On the contrary ORB-SLAM presents quite a few errors within it’s path, while it takes less time to complete the maze, it needs to correct it’s position within the scene more frequently. But it still keeps the same rough shape as the LiDAR. This would suggest that there is significant scale drift from both the visual slam systems, which could be caused due to loop closure problems. This is further proven through the second error graphs indicating the absolute pose error for x coordinates in relation to time. The graph showcases that orb-slam presents pose error than zedfu. With ORB-SLAM presenting 0.29 and Zedfu presenting 0.13. However Zedfu presents a larger standard deviation. Similarly It presents a larger depth error (D).