Vision-based simultaneous localization, mapping and exploration system

In this work we consider the problem of robotic system navigation in unknown environment, with restriction on the onboard sensor’s array (monocular camera only). We introduce software system for simultaneous localization, mapping and exploration. A description of the system’s architecture as well as of its core modules is presented. The system was evaluated both in simulation and on a real wheeled robot. The results of this evaluation are given.