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

Schuster, Martin and Schmid, Korbinian and Brand, Christoph and 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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Official URL: https://onlinelibrary.wiley.com/doi/full/10.1002/rob.21812


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.

Item URL in elib:https://elib.dlr.de/122539/
Document Type:Article
Additional Information: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.
Title:Distributed stereo vision-based 6D localization and mapping for multi-robot teams
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Schuster, MartinUNSPECIFIEDhttps://orcid.org/0000-0002-6983-3719UNSPECIFIED
Brand, ChristophUNSPECIFIEDhttps://orcid.org/0000-0001-5577-5952UNSPECIFIED
Date:17 October 2018
Journal or Publication Title:Journal of Field Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:graph SLAM, map matching, mobile robots, multi‐robot, navigation filter
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Project MOREX [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Schuster, Martin
Deposited On:30 Nov 2018 00:37
Last Modified:02 Nov 2023 09:44

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