MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES
Abstract. 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.
- Standort
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Deutsche Nationalbibliothek Frankfurt am Main
- Umfang
-
Online-Ressource
- Sprache
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Englisch
- Erschienen in
-
MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES ; volume:XLVIII-1/W1-2023 ; year:2023 ; pages:473-478 ; extent:6
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences ; XLVIII-1/W1-2023 (2023), 473-478 (gesamt 6)
- Klassifikation
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Elektrotechnik, Elektronik
- Urheber
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Sun, Y.
Huang, F.
Wen, W.
Hsu, L.-T.
Liu, X.
- DOI
-
10.5194/isprs-archives-XLVIII-1-W1-2023-473-2023
- URN
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urn:nbn:de:101:1-2023060104310188958489
- Rechteinformation
-
Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
- Letzte Aktualisierung
-
14.08.2025, 11:04 MESZ
Datenpartner
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Beteiligte
- Sun, Y.
- Huang, F.
- Wen, W.
- Hsu, L.-T.
- Liu, X.
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