TY - GEN
T1 - Pose-graph based 3D map fusion with distributed robot system
AU - Chen, Haoyao
AU - Zhong, Jin
AU - Fu, Yanling
AU - Lou, Yunjiang
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - Map fusion is an essential and challenging issue in multi-robot simultaneous localization and mapping (SLAM), especially for 3D SLAM applications. In this paper, we propose an efficient pose-graph based approach to fuse several 3D maps built by distributed mobile robotic system. Several robots, each equipped with a Kinect sensor, cooperate to map the operated environment; each of them just scans a part of the environment. A target detection algorithm is presented to help the robot detect other robots during the map building. Key information will be transferred from the detected robot to the detecting robot to build a link between these two robots. And at last, G2O optimization library is applied on the connected pose-graphs to build an optimized map. Experiments are finally performed to demonstrate the effectiveness of the proposed approach.
AB - Map fusion is an essential and challenging issue in multi-robot simultaneous localization and mapping (SLAM), especially for 3D SLAM applications. In this paper, we propose an efficient pose-graph based approach to fuse several 3D maps built by distributed mobile robotic system. Several robots, each equipped with a Kinect sensor, cooperate to map the operated environment; each of them just scans a part of the environment. A target detection algorithm is presented to help the robot detect other robots during the map building. Key information will be transferred from the detected robot to the detecting robot to build a link between these two robots. And at last, G2O optimization library is applied on the connected pose-graphs to build an optimized map. Experiments are finally performed to demonstrate the effectiveness of the proposed approach.
UR - https://www.scopus.com/pages/publications/84983157295
U2 - 10.1109/ROBIO.2014.7090564
DO - 10.1109/ROBIO.2014.7090564
M3 - 会议稿件
AN - SCOPUS:84983157295
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 1608
EP - 1613
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -