Towards multi-robot independent visual SLAM

  • Authors:

  • Monica Ballesta;Arturo Gil;Óscar Reinoso;Luis Payá;Luis M. Jiménez

  • Affiliations:

  • Miguel Hernández University, Department of Industrial Systems Engineering, Elche, Spain;Miguel Hernández University, Department of Industrial Systems Engineering, Elche, Spain;Miguel Hernández University, Department of Industrial Systems Engineering, Elche, Spain;Miguel Hernández University, Department of Industrial Systems Engineering, Elche, Spain;Miguel Hernández University, Department of Industrial Systems Engineering, Elche, Spain

  • Venue:
  • ICS'10 Proceedings of the 14th WSEAS international conference on Systems: part of the 14th WSEAS CSCC multiconference - Volume I
  • Year:
  • 2010

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Abstract

This paper focuses on the study on the map fusion problem as one of the steps towards the independent multi-robot map building. The situation proposed considers a set of several robots performing map building tasks. Each robot builds its own local map using its observations and estimates its path independently. As a result, there will be a set of local maps that can be fused into a global one. This is the case when the map fusion takes importance. Particularly, we focus our experiments on landmark-based maps constructed using visual information and by means of a particle filter.