Schuster, Martin und Schmid, Korbinian und Brand, Christoph und Beetz, Michael (2018) Distributed stereo vision-based 6D localization and mapping for multi-robot teams. Journal of Field Robotics. Wiley. doi: 10.1002/rob.21812. ISSN 1556-4959.
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Offizielle URL: https://onlinelibrary.wiley.com/doi/full/10.1002/rob.21812
Kurzfassung
Joint simultaneous localization and mapping (SLAM) constitutes the basis for cooperative action in multi-robot teams. We designed a stereo vision-based 6D SLAM system combining local and global methods to benefit from their particular advantages: (1) Decoupled local reference filters on each robot for real-time, long-term stable state estimation required for stabilization, control and fast obstacle avoidance; (2) Online graph optimization with a novel graph topology and intra- as well as inter-robot loop closures through an improved submap matching method to provide global multi-robot pose and map estimates; (3) Distribution of the processing of high-frequency and high-bandwidth measurements enabling the exchange of aggregated and thus compacted map data. As a result, we gain robustness with respect to communication losses between robots. We evaluated our improved map matcher on simulated and real-world datasets and present our full system in five real-world multi-robot experiments in areas of up 3,000 m2 (bounding box), including visual robot detections and submap matches as loop-closure constraints. Further, we demonstrate its application to autonomous multi-robot exploration in a challenging rough-terrain environment at a Moon-analogue site located on a volcano.
elib-URL des Eintrags: | https://elib.dlr.de/122539/ | ||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
Zusätzliche Informationen: | Video available at https://onlinelibrary.wiley.com/doi/full/10.1002/rob.21812 (Section "Supporting Information") -- Open Access: This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. | ||||||||||||||||||||
Titel: | Distributed stereo vision-based 6D localization and mapping for multi-robot teams | ||||||||||||||||||||
Autoren: |
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Datum: | 17 Oktober 2018 | ||||||||||||||||||||
Erschienen in: | Journal of Field Robotics | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1002/rob.21812 | ||||||||||||||||||||
Verlag: | Wiley | ||||||||||||||||||||
ISSN: | 1556-4959 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | graph SLAM, map matching, mobile robots, multi‐robot, navigation filter | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Projekt MOREX [SY] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||||||
Hinterlegt von: | Schuster, Martin | ||||||||||||||||||||
Hinterlegt am: | 30 Nov 2018 00:37 | ||||||||||||||||||||
Letzte Änderung: | 02 Nov 2023 09:44 |
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