MOARSLAM: Multiple Operator Augmented RSLAM

@inproceedings{Morrison2014MOARSLAMMO,
  title={MOARSLAM: Multiple Operator Augmented RSLAM},
  author={John G. Morrison and Dorian G{\'a}lvez-L{\'o}pez and Gabe Sibley},
  booktitle={DARS},
  year={2014}
}
To effectively act on the same physical space, robots must first communicate to share and fuse the map of the area in which they operate. For long-term online operation, the merging of maps from heterogeneous devices must be fast and allow for scalable growth in both the number of clients and the size of the map. This paper presents a system which allows multiple clients to share and merge maps built from a state-of-the-art relative SLAM system. Maps can also be augmented with virtual elements… CONTINUE READING