Multiple Relative Pose Graphs for Robust Cooperative Mapping

Multiple Relative Pose Graphs for Robust Cooperative Mapping

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This paper describes a new algorithm for cooperative and persistent simultaneous localization and mapping (SLAM) using multiple robots. Recent pose graph representations have proven very successful for single robot mapping and localization. Among these methods, incremental smoothing and mapping (iSA...

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Bibliographic Details
Main Authors: Kim, Been, Kaess, Michael, Fletcher, Luke Sebastian, Leonard, John Joseph, Bachrach, Abraham Galton, Roy, Nicholas, Teller, Seth
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:en_US
Published: Institute of Electrical and Electronics Engineers (IEEE) 2012
Online Access:http://hdl.handle.net/1721.1/73536
https://orcid.org/0000-0002-8863-6550
https://orcid.org/0000-0002-8293-0492

Internet

http://hdl.handle.net/1721.1/73536
https://orcid.org/0000-0002-8863-6550
https://orcid.org/0000-0002-8293-0492

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