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Distributed stereo vision-based 6D localization and mapping for multi-robot teams

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/
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:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Schuster, MartinMartin.Schuster (at) dlr.dehttps://orcid.org/0000-0002-6983-3719NICHT SPEZIFIZIERT
Schmid, Korbiniankorbinian.schmid (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Brand, ChristophChristoph.Brand (at) dlr.dehttps://orcid.org/0000-0001-5577-5952NICHT SPEZIFIZIERT
Beetz, Michaelbeetz (at) cs.uni-bremen.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
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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