Enhanced mapping of multi-robot using distortion reducing filter based SIFT

Authors:
Kyung-Sik Choi;Yoon-Gu Kim;Jinung An;Suk-Gyu Lee
Affiliations:
Department of Electrical Engineering, Yeungnam University;Daegu Gyeongbuk Institute of Science and Technology, Gyongbuk, Republic of Korea;Daegu Gyeongbuk Institute of Science and Technology, Gyongbuk, Republic of Korea;Department of Electrical Engineering, Yeungnam University
Venue:
ICSI'10 Proceedings of the First international conference on Advances in Swarm Intelligence - Volume Part I
Year:
2010

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Abstract

This paper proposes an enhanced mapping of multi-robot using a DSIFT to reduce the mapping calculation time In this approach, the master robot transmits each robot's mapping information in SLAM by DSIFT, which incorporates an additional step on the SIFT The DSIFT uses a keypoint to reduce the distortional information throughout the Gaussian filter after the step of the image descriptor The master robot calculates the slave robot's pose using picture images, and serves the results to all the robots Simulation results are presented based on DSIFT showing better performance than using the SIFT in multi-robot mapping situations.