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: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2023-05-01
|
| 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 |
| _version_ | 1797820041491644416 |
|---|---|
| author | Y. Sun F. Huang W. Wen L.-T. Hsu X. Liu |
| author_facet | Y. Sun F. Huang W. Wen L.-T. Hsu X. Liu |
| author_sort | Y. Sun |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-13T09:31:34Z |
| format | Article |
| id | doaj.art-8506775da1d2466ab11f39798523eeaf |
| institution | Directory Open Access Journal |
| issn | 1682-1750 2194-9034 |
| language | English |
| last_indexed | 2024-03-13T09:31:34Z |
| publishDate | 2023-05-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-8506775da1d2466ab11f39798523eeaf2023-05-26T00:45:25ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342023-05-01XLVIII-1-W1-202347347810.5194/isprs-archives-XLVIII-1-W1-2023-473-2023MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENESY. Sun0F. Huang1W. Wen2L.-T. Hsu3X. Liu4Department of Land Survey and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong SAR, ChinaDepartment of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, ChinaDepartment of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, ChinaDepartment of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, ChinaDepartment of Land Survey and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong SAR, ChinaWe 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.https://isprs-archives.copernicus.org/articles/XLVIII-1-W1-2023/473/2023/isprs-archives-XLVIII-1-W1-2023-473-2023.pdf |
| spellingShingle | Y. Sun F. Huang W. Wen L.-T. Hsu X. Liu MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES |
| title_full | MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES |
| title_fullStr | MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES |
| title_full_unstemmed | MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES |
| title_short | MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES |
| title_sort | multi robot cooperative lidar slam for efficient mapping in urban scenes |
| url | https://isprs-archives.copernicus.org/articles/XLVIII-1-W1-2023/473/2023/isprs-archives-XLVIII-1-W1-2023-473-2023.pdf |
| work_keys_str_mv | AT ysun multirobotcooperativelidarslamforefficientmappinginurbanscenes AT fhuang multirobotcooperativelidarslamforefficientmappinginurbanscenes AT wwen multirobotcooperativelidarslamforefficientmappinginurbanscenes AT lthsu multirobotcooperativelidarslamforefficientmappinginurbanscenes AT xliu multirobotcooperativelidarslamforefficientmappinginurbanscenes |