Multiple Relative Pose Graphs for Robust Cooperative Mapping
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Teller_Multiple relative.pdf
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749.68 KB
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Checksum (MD5)
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Author(s)
Kim, Been
Kaess, Michael
Fletcher, Luke Sebastian
Leonard, John Joseph
Bachrach, Abraham Galton
Roy, Nicholas
Teller, Seth
Date Issued
July 2010
Journal
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Been Kim et al. “Multiple Relative Pose Graphs for Robust Cooperative Mapping.” IEEE International Conference on Robotics and Automation (ICRA), 2010. 3185–3192. © Copyright 2010 IEEE
Version
Final published version
Abstract
This paper describes a new algorithm for cooperative and persistent simultaneous localization and mapping (SLAM) using multiple robots. Recent pose graph representations have proven very successful for single robot mapping and localization. Among these methods, incremental smoothing and mapping (iSAM) gives an exact incremental solution to the SLAM problem by solving a full nonlinear optimization problem in real-time. In this paper, we present a novel extension to iSAM to facilitate online multi-robot mapping based on multiple pose graphs. Our main contribution is a relative formulation of the relationship between multiple pose graphs that avoids the initialization problem and leads to an efficient solution when compared to a completely global formulation. The relative pose graphs are optimized together to provide a globally consistent multi-robot solution. Efficient access to covariances at any time for relative parameters is provided through iSAM, facilitating data association and loop closing. The performance of the technique is illustrated on various data sets including a publicly available multi-robot data set. Further evaluation is performed in a collaborative helicopter and ground robot experiment.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509154
