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...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 7; H. 2; S. 1150 - 1157
Hauptverfasser:	Huang, Yewei, Shan, Tixiao, Chen, Fanfei, Englot, Brendan
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.04.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	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
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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