DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization
We propose a novel framework for distributed,multi-robot SLAM intended for use with 3D LiDAR observations. The framework, DiSCo-SLAM, is the first to use the lightweight Scan Context descriptor for multi-robot SLAM, permitting a data-efficient exchange of LiDAR observations among robots. Additionall...
Uloženo v:
| Vydáno v: | IEEE robotics and automation letters Ročník 7; číslo 2; s. 1150 - 1157 |
|---|---|
| Hlavní autoři: | , , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
Piscataway
IEEE
01.04.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Témata: | |
| ISSN: | 2377-3766, 2377-3766 |
| On-line přístup: | Získat plný text |
| Tagy: |
Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
|
| Abstract | We propose a novel framework for distributed,multi-robot SLAM intended for use with 3D LiDAR observations. The framework, DiSCo-SLAM, is the first to use the lightweight Scan Context descriptor for multi-robot SLAM, permitting a data-efficient exchange of LiDAR observations among robots. Additionally, our framework includes a two-stage global and local optimization framework for distributed multi-robot SLAM which provides stable localization results that are resilient to the unknown initial conditions that typify the search for inter-robot loop closures. We compare our proposed framework with the widely used distributed Gauss-Seidel (DGS) approach, over a variety of multi-robot datasets, quantitatively demonstrating its accuracy, stability, and data-efficiency. |
|---|---|
| AbstractList | We propose a novel framework for distributed,multi-robot SLAM intended for use with 3D LiDAR observations. The framework, DiSCo-SLAM, is the first to use the lightweight Scan Context descriptor for multi-robot SLAM, permitting a data-efficient exchange of LiDAR observations among robots. Additionally, our framework includes a two-stage global and local optimization framework for distributed multi-robot SLAM which provides stable localization results that are resilient to the unknown initial conditions that typify the search for inter-robot loop closures. We compare our proposed framework with the widely used distributed Gauss-Seidel (DGS) approach, over a variety of multi-robot datasets, quantitatively demonstrating its accuracy, stability, and data-efficiency. |
| Author | Chen, Fanfei Englot, Brendan Shan, Tixiao Huang, Yewei |
| Author_xml | – sequence: 1 givenname: Yewei orcidid: 0000-0002-2505-6022 surname: Huang fullname: Huang, Yewei email: yhuang85@stevens.edu organization: Stevens Institute of Technology, Hoboken, NJ, USA – sequence: 2 givenname: Tixiao orcidid: 0000-0003-0988-0799 surname: Shan fullname: Shan, Tixiao email: tixiao.shan@gmail.com organization: SRI International, Princeton, NJ, USA – sequence: 3 givenname: Fanfei surname: Chen fullname: Chen, Fanfei email: frankycff@gmail.com organization: Exyn Technologies, Philadelphia, PA, USA – sequence: 4 givenname: Brendan orcidid: 0000-0002-7966-2917 surname: Englot fullname: Englot, Brendan email: benglot@stevens.edu organization: Stevens Institute of Technology, Hoboken, NJ, USA |
| BookMark | eNp9kM1rwkAQxZdiodZ6L_Sy0HPsfribbG-i1hYiggo9hknc1JWYTTcb-vHXN1YppYeeZhje7w3vXaJOaUuN0DUlA0qJuouXowEjjA445REV8gx1GQ_DgIdSdn7tF6hf1ztCCBUs5Ep0kZuY1dgGq3g0v8cTU3tn0sbrDV5lUOKxLb1-98G0hLRoj_Om8CZY2tR6HJvJaIkPIH42fovXb62NhxeNZ4VNoQhim0GBZw6qLV5U3uzNJ3hjyyt0nkNR6_5p9tD6YboePwbxYvY0HsVBxhT1gSA5YbnkKow2uYrSPBoSRTjkFCJJgUktQEoWZhkXOSUZJ7BhKgIRQsQo4z10e7StnH1tdO2TnW1c2X5MmKThMFJCDVsVOaoyZ-va6TypnNmD-0goSQ7dJm23yaHb5NRti8g_SGb8dzLvwBT_gTdH0Gitf_6oNoSSgn8BrTCFqA |
| CODEN | IRALC6 |
| CitedBy_id | crossref_primary_10_1109_LRA_2025_3557298 crossref_primary_10_3390_s24175529 crossref_primary_10_1007_s11263_024_02019_5 crossref_primary_10_1109_TASE_2024_3376427 crossref_primary_10_3390_electronics13204129 crossref_primary_10_3390_s24103154 crossref_primary_10_1109_LRA_2024_3490402 crossref_primary_10_1016_j_engappai_2024_109001 crossref_primary_10_1109_JSTARS_2024_3481246 crossref_primary_10_1109_TIM_2025_3557821 crossref_primary_10_1017_S0263574725102178 crossref_primary_10_3390_machines11060653 crossref_primary_10_1002_msd2_12098 crossref_primary_10_1088_1361_6501_ace20e crossref_primary_10_1109_TFR_2025_3586209 crossref_primary_10_1109_LRA_2023_3292623 crossref_primary_10_1109_TGRS_2025_3563358 crossref_primary_10_1109_TIM_2023_3327469 crossref_primary_10_1109_LRA_2023_3234802 crossref_primary_10_1109_LRA_2024_3504317 crossref_primary_10_1109_LRA_2025_3575235 crossref_primary_10_1016_j_mechatronics_2025_103410 crossref_primary_10_1109_JSEN_2024_3374346 crossref_primary_10_1109_LRA_2024_3440089 crossref_primary_10_1016_j_measurement_2022_112382 crossref_primary_10_1109_TRO_2025_3554400 crossref_primary_10_1016_j_jag_2024_103945 crossref_primary_10_1109_LRA_2024_3399997 crossref_primary_10_1109_TIM_2025_3600832 crossref_primary_10_3390_s23021025 crossref_primary_10_1109_LRA_2025_3600141 crossref_primary_10_1109_JIOT_2025_3556850 crossref_primary_10_1109_TRO_2024_3522155 crossref_primary_10_1109_JSEN_2023_3345541 crossref_primary_10_1007_s10586_024_04797_6 crossref_primary_10_1088_1361_6501_ac97b1 crossref_primary_10_3390_rs16214027 crossref_primary_10_1109_LCSYS_2024_3373825 crossref_primary_10_3390_drones9070504 crossref_primary_10_1109_ACCESS_2025_3532478 crossref_primary_10_1016_j_dt_2023_05_013 crossref_primary_10_1109_TITS_2025_3566633 crossref_primary_10_1109_TIV_2024_3414852 crossref_primary_10_3390_electronics12183832 crossref_primary_10_3390_wevj16020056 crossref_primary_10_3390_electronics13183746 crossref_primary_10_1002_rob_22509 crossref_primary_10_3390_s25092953 crossref_primary_10_1109_LRA_2024_3396096 crossref_primary_10_3390_s23052399 crossref_primary_10_3390_drones8090493 crossref_primary_10_1016_j_measurement_2025_117531 crossref_primary_10_1109_LRA_2023_3333742 crossref_primary_10_1109_TIM_2025_3565109 |
| Cites_doi | 10.1109/ICRA.2019.8793511 10.1002/rob.21620 10.3389/frobt.2021.618268 10.1007/978-3-030-95459-8_51 10.1109/IROS45743.2020.9341176 10.1109/RCAR.2016.7784092 10.1109/ICRA.2013.6631323 10.1109/LRA.2018.2837226 10.1109/IROS.2018.8594299 10.1109/IROS.2017.8202268 10.1109/TRO.2021.3072346 10.1007/s10846-021-01362-w 10.1109/ICRA.2016.7487736 10.1109/IROS.2018.8593953 10.1109/IROS.2010.5652875 10.1109/IROS.2013.6696483 10.1109/ICRA48506.2021.9561090 10.1109/IROS51168.2021.9636649 10.1109/MITS.2010.939925 10.15607/RSS.2018.XIV.003 10.1177/0278364913491297 10.1109/LRA.2020.2967681 10.1109/ICWS.2018.00026 10.1177/0278364918784361 10.1016/j.robot.2013.11.007 10.1109/ICRA.2013.6630557 10.1109/ICRA.2018.8460217 |
| ContentType | Journal Article |
| Copyright | Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022 |
| Copyright_xml | – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022 |
| DBID | 97E RIA RIE AAYXX CITATION 7SC 7SP 8FD JQ2 L7M L~C L~D |
| DOI | 10.1109/LRA.2021.3138156 |
| DatabaseName | IEEE All-Society Periodicals Package (ASPP) 2005–Present IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE/IET Electronic Library CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Technology Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional |
| DatabaseTitle | CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional |
| DatabaseTitleList | Technology Research Database |
| Database_xml | – sequence: 1 dbid: RIE name: IEEE/IET Electronic Library url: https://ieeexplore.ieee.org/ sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 2377-3766 |
| EndPage | 1157 |
| ExternalDocumentID | 10_1109_LRA_2021_3138156 9662965 |
| Genre | orig-research |
| GrantInformation_xml | – fundername: ONR grantid: N00014-21-1-2161 – fundername: NSF grantid: IIS-1652064; IIS-1723996 |
| GroupedDBID | 0R~ 97E AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFS AGQYO AGSQL AHBIQ AKJIK AKQYR ALMA_UNASSIGNED_HOLDINGS ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ EBS EJD IFIPE IPLJI JAVBF KQ8 M43 M~E O9- OCL RIA RIE AAYXX CITATION 7SC 7SP 8FD JQ2 L7M L~C L~D |
| ID | FETCH-LOGICAL-c291t-50f02f63978df98bf840903af1a861a26e5a6627cc35f10c30ad298a57a82123 |
| IEDL.DBID | RIE |
| ISICitedReferencesCount | 70 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000739999000002&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 2377-3766 |
| IngestDate | Mon Jun 30 04:38:38 EDT 2025 Sat Nov 29 06:03:14 EST 2025 Tue Nov 18 22:18:42 EST 2025 Wed Aug 27 03:03:35 EDT 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 2 |
| Language | English |
| License | https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html https://doi.org/10.15223/policy-029 https://doi.org/10.15223/policy-037 |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c291t-50f02f63978df98bf840903af1a861a26e5a6627cc35f10c30ad298a57a82123 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 |
| ORCID | 0000-0002-2505-6022 0000-0003-0988-0799 0000-0002-7966-2917 |
| PQID | 2617489594 |
| PQPubID | 4437225 |
| PageCount | 8 |
| ParticipantIDs | crossref_primary_10_1109_LRA_2021_3138156 ieee_primary_9662965 proquest_journals_2617489594 crossref_citationtrail_10_1109_LRA_2021_3138156 |
| PublicationCentury | 2000 |
| PublicationDate | 2022-04-01 |
| PublicationDateYYYYMMDD | 2022-04-01 |
| PublicationDate_xml | – month: 04 year: 2022 text: 2022-04-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationPlace | Piscataway |
| PublicationPlace_xml | – name: Piscataway |
| PublicationTitle | IEEE robotics and automation letters |
| PublicationTitleAbbrev | LRA |
| PublicationYear | 2022 |
| Publisher | IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher_xml | – name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| References | ref13 ref12 ref15 ref14 ref11 ref10 ref2 ref1 ref17 ref16 ref19 ref18 Dellaert (ref4) 2012 ref24 ref23 ref26 ref25 ref20 ref22 ref21 ref28 ref27 ref8 ref7 ref9 ref3 ref6 ref5 |
| References_xml | – ident: ref15 doi: 10.1109/ICRA.2019.8793511 – ident: ref7 doi: 10.1002/rob.21620 – ident: ref8 doi: 10.3389/frobt.2021.618268 – ident: ref20 doi: 10.1007/978-3-030-95459-8_51 – ident: ref6 doi: 10.1109/IROS45743.2020.9341176 – ident: ref10 doi: 10.1109/RCAR.2016.7784092 – ident: ref24 doi: 10.1109/ICRA.2013.6631323 – ident: ref11 doi: 10.1109/LRA.2018.2837226 – ident: ref14 doi: 10.1109/IROS.2018.8594299 – ident: ref1 doi: 10.1109/IROS.2017.8202268 – ident: ref25 doi: 10.1109/TRO.2021.3072346 – year: 2012 ident: ref4 article-title: Factor graphs and GTSAM: A hands-on introduction – ident: ref18 doi: 10.1007/s10846-021-01362-w – ident: ref2 doi: 10.1109/ICRA.2016.7487736 – ident: ref5 doi: 10.1109/IROS.2018.8593953 – ident: ref23 doi: 10.1109/IROS.2010.5652875 – ident: ref19 doi: 10.1109/IROS.2013.6696483 – ident: ref13 doi: 10.1109/ICRA48506.2021.9561090 – ident: ref17 doi: 10.1109/IROS51168.2021.9636649 – ident: ref27 doi: 10.1109/MITS.2010.939925 – ident: ref16 doi: 10.15607/RSS.2018.XIV.003 – ident: ref28 doi: 10.1177/0278364913491297 – ident: ref3 doi: 10.1109/LRA.2020.2967681 – ident: ref12 doi: 10.1109/ICWS.2018.00026 – ident: ref26 doi: 10.1177/0278364918784361 – ident: ref9 doi: 10.1016/j.robot.2013.11.007 – ident: ref21 doi: 10.1109/ICRA.2013.6630557 – ident: ref22 doi: 10.1109/ICRA.2018.8460217 |
| SSID | ssj0001527395 |
| Score | 2.5300527 |
| Snippet | We propose a novel framework for distributed,multi-robot SLAM intended for use with 3D LiDAR observations. The framework, DiSCo-SLAM, is the first to use the... |
| SourceID | proquest crossref ieee |
| SourceType | Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | 1150 |
| SubjectTerms | Context distributed robot systems Feature extraction Initial conditions Laser radar Lidar Local optimization Multi-robot SLAM Multiple robots Optimization range sensing Robot kinematics Robot sensing systems Robots Simultaneous localization and mapping |
| Title | DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization |
| URI | https://ieeexplore.ieee.org/document/9662965 https://www.proquest.com/docview/2617489594 |
| Volume | 7 |
| WOSCitedRecordID | wos000739999000002&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVIEE databaseName: IEEE/IET Electronic Library customDbUrl: eissn: 2377-3766 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0001527395 issn: 2377-3766 databaseCode: RIE dateStart: 20160101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE – providerCode: PRVHPJ databaseName: ROAD: Directory of Open Access Scholarly Resources customDbUrl: eissn: 2377-3766 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0001527395 issn: 2377-3766 databaseCode: M~E dateStart: 20160101 isFulltext: true titleUrlDefault: https://road.issn.org providerName: ISSN International Centre |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3PT9swFH6iiAM7MH5sWhkgH7gg4TV24sberaIFDuGH2gq4RbbjaJW2BpXAbvvb5-emBcQ0iVsOflHkz_HzZ_v7HsCh8jw69gsRWpTM0MQyR6UyhipZcCGZTVTQVt1k6eWlvLtT1ytwvNTCOOfC5TP3DR_DWX5R2UfcKuv4pTlXXdGCVpqmc63W834KOokpsTiJjFQnG_Y8_-PM09IYPVFeZZ5QSuXN_BuSyunH933OJmw0i0fSm6O9BStuug0fXlgK7sCsPxmdVHSU9S6-kz664mJBK1eQke9DEryoPNUdBMVUQYL8lg4rU9Ukm_R7Q4KB5HZS_yDj3_41tZ9uyLwuAM0w7ZEzdLgmV36m-dVIOD_B-HQwPjmnTV0FarliNRVRGfEST_RkUSppSiR5UaxLpmWXad51QqMvvLWxKFlk40gXXEktUi0x032G1Wk1dV-AyK7x5No67QqVpMYYxUqjOTMiiX1I2obOostz23iOY-mLn3ngHpHKPUg5gpQ3ILXhaBlxP_fb-E_bHQRl2a7Bow17C1Tz5od8yNF4PpFKqGT331FfYZ2jsiFcytmD1Xr26PZhzT7Vk4fZAbQu_gwOwoj7C5kZ0bw |
| linkProvider | IEEE |
| linkToHtml | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1dT9swFL0ChjR42Acw0cHAD3tBwmvsxK3NW0X50kJBbcV4i2zH0SpBg9oAf3--blo2bZrEWx58o8jH8fWxfc4F-Ko8j479QoTmBTM0scxRqYyhSuZcSGYTFbRVN2m715O3t-p6CQ4XWhjnXLh85r7hYzjLz0v7iFtlTb8056olluGNSBLOZmqtlx0V9BJTYn4WGalm2u94BsiZJ6YxuqL8kXtCMZW_ZuCQVk7fv-6DPsC7evlIOjO8P8KSG2_A-m-mgpsw6Y4GxyUdpJ3LI9JFX1wsaeVyMvC9SIIblSe7J0EzlZMgwKX90pQVSUfdTp9gIPkxqn6S4bN_TeUnHDKrDEBTTHzkDD2uyZWfa-5rEecWDE9PhsfntK6sQC1XrKIiKiJe4JmezAslTYE0L4p1wbRsMc1bTmh0hrc2FgWLbBzpnCupRVtLzHWfYGVcjt02ENkynl5bp12ukrYxRrHCaM6MSGIf0m5Ac97lma1dx7H4xV0W2EekMg9ShiBlNUgNOFhEPMwcN_7TdhNBWbSr8WjA7hzVrP4lpxlazydSCZV8_nfUPrw9H16mWXrR-74Daxx1DuGKzi6sVJNH9wVW7VM1mk72wrj7BbNN09I |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=DiSCo-SLAM%3A+Distributed+Scan+Context-Enabled+Multi-Robot+LiDAR+SLAM+With+Two-Stage+Global-Local+Graph+Optimization&rft.jtitle=IEEE+robotics+and+automation+letters&rft.au=Huang%2C+Yewei&rft.au=Tixiao+Shan&rft.au=Chen%2C+Fanfei&rft.au=Englot%2C+Brendan&rft.date=2022-04-01&rft.pub=The+Institute+of+Electrical+and+Electronics+Engineers%2C+Inc.+%28IEEE%29&rft.eissn=2377-3766&rft.volume=7&rft.issue=2&rft.spage=1150&rft_id=info:doi/10.1109%2FLRA.2021.3138156&rft.externalDBID=NO_FULL_TEXT |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2377-3766&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2377-3766&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2377-3766&client=summon |