MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES

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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.

Location: Deutsche Nationalbibliothek Frankfurt am Main

Extent: Online-Ressource

Language: Englisch

Bibliographic citation: 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)

Classification: Elektrotechnik, Elektronik

Creator: Sun, Y.
Huang, F.
Wen, W.
Hsu, L.-T.
Liu, X.

DOI: 10.5194/isprs-archives-XLVIII-1-W1-2023-473-2023

URN: urn:nbn:de:101:1-2023060104310188958489

Rights: Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.

Last update: 14.08.2025, 11:04 AM CEST

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Sun, Y.
Huang, F.
Wen, W.
Hsu, L.-T.
Liu, X.

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MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES

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