elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Multi-Robot 6D Graph SLAM Connecting Decoupled Local Reference Filters

Schuster, Martin J. and Brand, Christoph and Hirschmüller, Heiko and Suppa, Michael and Beetz, Michael (2015) Multi-Robot 6D Graph SLAM Connecting Decoupled Local Reference Filters. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 28 Sep - 02 Oct 2015, Hamburg, Germany.

[img] PDF
3MB

Abstract

Teams of mobile robots can be deployed in search and rescue missions to explore previously unknown environments. Methods for joint localization and mapping constitute the basis for (semi-)autonomous cooperative action, in particular when navigating in GPS-denied areas. As communication losses may occur, a decentralized solution is required. With these challenges in mind, we designed a submap-based SLAM system that relies on inertial measurements and stereo-vision to create multi-robot dense 3D maps. For online pose and map estimation, we integrate the results of keyframe-based local reference filters through incremental graph SLAM. To the best of our knowledge, we are the first to combine these two methods to benefit from their particular advantages for 6D multi-robot localization and mapping: Local reference filters on each robot provide real-time, long-term stable state estimates that are required for stabilization, control and fast obstacle avoidance, whereas online graph optimization provides global multi-robot pose and map estimates needed for cooperative planning. We propose a novel graph topology for a decoupled integration of local filter estimates from multiple robots into a SLAM graph according to the filters' uncertainty estimates and independence assumptions and evaluated its benefits on two different robots in indoor, outdoor and mixed scenarios. Further, we performed two extended experiments in a multi-robot setup to evaluate the full SLAM system, including visual robot detections and submap matches as inter-robot loop closure constraints.

Item URL in elib:https://elib.dlr.de/100757/
Document Type:Conference or Workshop Item (Speech)
Title:Multi-Robot 6D Graph SLAM Connecting Decoupled Local Reference Filters
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schuster, Martin J.martin.schuster (at) dlr.deUNSPECIFIED
Brand, Christophchristoph.brand (at) dlr.deUNSPECIFIED
Hirschmüller, Heikoheiko.hirschmueller (at) dlr.deUNSPECIFIED
Suppa, Michaelmichael.suppa (at) dlr.deUNSPECIFIED
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Date:September 2015
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Series Name:Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
Status:Published
Keywords:mapping SLAM search and rescue localization multi-robot robotics
Event Title:2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Hamburg, Germany
Event Type:international Conference
Event Dates:28 Sep - 02 Oct 2015
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Schuster, Martin
Deposited On:10 Dec 2015 09:46
Last Modified:31 Jul 2019 19:57

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.