On March 14, 2025, CSIE hosted ninth seminar in our Student Seminar Series. Gor Arzanyan, a research intern at CSIE, delivered an insightful presentation on robot perception systems with a focus on Simultaneous Localization and Mapping (SLAM) technologies.

This event is part of our ongoing commitment to showcase student research and knowledge in advanced technological fields. The seminar series provides a platform for students to share their expertise and insights with the CSIE community.

Seminar Highlights։

✔️Perception in Robotics

The seminar began with a comprehensive overview of robot perception, covering problem formulation and taxonomy, perceptual system components and environment representation methods.

✔️Simultaneous Localization and Mapping (SLAM)

The presentation traced SLAM's historical development from its conceptualization in 1986 to modern implementations, explained its core structure including motion models, observation models, and mathematical foundations, and detailed the Visual SLAM architecture with its feature extraction, visual odometry, local mapping, and loop closure components.

✔️Technical Deep Dive: OrbSLAM 3

The speaker provided an in-depth analysis of OrbSLAM 3, examining its feature detection and description, visual odometry techniques, mapping system and loop closure methods.

✔️Experimental Results (Results from testing OrbSLAM 3 in various environments)

The presentation included results from testing OrbSLAM 3 in various environments, assessing its performance in dynamic settings, behavior under different lighting conditions, effectiveness in scenes with limited visual features, impact of camera calibration, and challenges with rapid rotational movements.