Abstract
With the single-robot visual SLAM method reaching maturity, the issue of collaboratively exploring unknown environments by multiple robots attracts increasing attention. In this paper, we present CORB-SLAM, a novel collaborative multi-robot visual SLAM system providing map fusing and map sharing capabilities. Experimental results on popular public datasets demonstrate the performance of the CORB-SLAM. Furthermore, we make the source code of CORB-SLAM to be publicly available (https://github.com/lifunudt/CORB-SLAM.git).
Project 91648204 supported by NSFC, project ZDYYJCYJ20140601 supported by NUDT, and project 201602-01 supported by HPCL.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Klein, G., Murray, D.: Parallel tracking and mapping for small AR workspaces. In: 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, ISMAR 2007, pp. 225–234. IEEE (2007)
Mur-Artal, R., Tardos, J.D.: ORB-SLAM2: an open-source SLAM system for monocular, stereo and RGB-D cameras. arXiv preprint arXiv:1610.06475 (2016)
Riazuelo, L., Civera, J., Montiel, J.: C2TAM: a cloud framework for cooperative tracking and mapping. Robot. Auton. Syst. 62(4), 401–413 (2014)
Deutsch, I., Liu, M., Siegwart, R.: A framework for multi-robot pose graph SLAM. In: IEEE International Conference on Real-time Computing and Robotics (RCAR), pp. 567–572. IEEE (2016)
Schmuck, P., Chli, M.: Multi-UAV Collaborative Monocular SLAM (2017)
Knuth, J., Barooah, P.: Collaborative localization with heterogeneous inter-robot measurements by Riemannian optimization. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 1534–1539. IEEE (2013)
Cunningham, A., Paluri, M., Dellaert, F.: DDF-SAM: Fully distributed SLAM using constrained factor graphs. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3025–3030. IEEE (2010)
Colares, R.G., Chaimowicz, L.: The next frontier: combining information gain and distance cost for decentralized multi-robot exploration. In: Proceedings of the 31st Annual ACM Symposium on Applied Computing, pp. 268–274. ACM (2016)
Choudhary, S., Carlone, L., Nieto, C., Rogers, J., Christensen, H.I., Dellaert, F.: Distributed trajectory estimation with privacy and communication constraints: a two-stage distributed Gauss-Seidel approach. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 5261–5268. IEEE (2016)
Choudhary, S., Carlone, L., Nieto, C., Rogers, J., Christensen, H.I., Dellaert, F.: Distributed mapping with privacy and communication constraints: lightweight algorithms and object-based models. arXiv preprint arXiv:1702.03435 (2017)
Gálvez-López, D., Tardos, J.D.: Bags of binary words for fast place recognition in image sequences. IEEE Trans. Robot. 28(5), 1188–1197 (2012)
Moreno-Noguer, F., Lepetit, V., Fua, P.: Accurate non-iterative o (n) solution to the PnP problem. In: IEEE 11th International Conference on Computer vision, ICCV 2007, pp. 1–8. IEEE (2007)
Geiger, A., Lenz, P., Stiller, C., Urtasun, R.: Vision meets robotics: the KITTI dataset. Int. J. Robot. Res. 32(11), 1231–1237 (2013)
Horn, B.K.P.: Closed-form solution of absolute orientation using unit quaternions. JOSA A 4(4), 629–642 (1987)
Kümmerle, R., Grisetti, G., Strasdat, H., Konolige, K., Burgard, W.: g2o: a general framework for graph optimization. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 3607–3613. IEEE (2011)
Rublee, E., Rabaud, V., Konolige, K., Bradski, G.: ORB: an efficient alternative to SIFT or SURF. In: 2011 IEEE International Conference on Computer Vision (ICCV), pp. 2564–2571. IEEE (2011)
Quigley, M., et al.:. ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software, vol. 3, p. 5. Kobe (2009)
Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: ORB-SLAM: a versatile and accurate monocular SLAM system. IEEE Trans. Robot. 31(5), 1147–1163 (2015)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering
About this paper
Cite this paper
Li, F., Yang, S., Yi, X., Yang, X. (2018). CORB-SLAM: A Collaborative Visual SLAM System for Multiple Robots. In: Romdhani, I., Shu, L., Takahiro, H., Zhou, Z., Gordon, T., Zeng, D. (eds) Collaborative Computing: Networking, Applications and Worksharing. CollaborateCom 2017. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 252. Springer, Cham. https://doi.org/10.1007/978-3-030-00916-8_45
Download citation
DOI: https://doi.org/10.1007/978-3-030-00916-8_45
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-00915-1
Online ISBN: 978-3-030-00916-8
eBook Packages: Computer ScienceComputer Science (R0)