A Collaborative Visual SLAM Framework for Service Robots

  title={A Collaborative Visual SLAM Framework for Service Robots},
  author={Ming Ouyang and Xuesong Shi and Yujie Wang and Yuxin Tian and Yingzhe Shen and Dawei Wang and Peng Wang},
  journal={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  • M. OuyangXuesong Shi Peng Wang
  • Published 5 February 2021
  • Computer Science
  • 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map, update the map, or build new maps, all with a unified interface and low computation and memory cost. We design an elegant communication pipeline to enable real-time information sharing between robots. With a novel landmark organization and retrieval method on the… 

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