MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES
We first use the multi-robot SLAM framework DiSCo-SLAM to evaluate the performance of cooperative SLAM based on the complicated dataset in urban scenes. Besides, we perform comparisons of single-robot SLAM and multi-robot SLAM to explore whether the cooperative framework can noticeably improve robot...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2023-05-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-1-W1-2023/473/2023/isprs-archives-XLVIII-1-W1-2023-473-2023.pdf |
| Summary: | We first use the multi-robot SLAM framework DiSCo-SLAM to evaluate the performance of cooperative SLAM based on the complicated dataset in urban scenes. Besides, we perform comparisons of single-robot SLAM and multi-robot SLAM to explore whether the cooperative framework can noticeably improve robot localization performance and the influence of inter-robot constraints in local pose graph, utilizing an identical dataset generated via the Carla simulator. Our findings indicate that under specific conditions, the integration of inter-robot constraints may effectively mitigate drift in local pose estimation. The extent to which inter-robot constraints affect the correction of local SLAM is related to various factors, such as the confidence level of the constraints and the range of keyframes imposed by the constraint. |
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| ISSN: | 1682-1750 2194-9034 |