DocumentCode :
3315742
Title :
Multi-robot simultaneous localization and mapping using D-SLAM framework
Author :
Wang, Zhan ; Huang, Shoudong ; Dissanayake, Gamini
Author_Institution :
Univ. of Technol., Sydney
fYear :
2007
fDate :
3-6 Dec. 2007
Firstpage :
317
Lastpage :
322
Abstract :
This paper presents an algorithm for the multi-robot simultaneous localization and mapping (SLAM) problem with the robot initial locations completely unknown. Each robot builds its own local map using the traditional extended Kalman filter (EKF) SLAM algorithm. We provide a new method to fuse the local maps into a jointly maintained global map by first transforming the local map state estimate into relative location information and then conducting the fusion using the decoupled SLAM (D-SLAM) framework (Wang et al., 2007). An efficient algorithm to find the map overlap and corresponding beacons across the maps is developed from a point feature based medical image registration method and the joint compatibility test. By adding the robot initial pose of each local map into the global map state, the algorithm shows valuable properties. Simulation results are provided to illustrate the effectiveness of the algorithm.
Keywords :
Kalman filters; SLAM (robots); image registration; medical image processing; D-SLAM framework; SLAM problem; decoupled SLAM; extended Kalman filter; joint compatibility test; jointly maintained global map; multirobot simultaneous localization; point feature based medical image registration; relative location information; robot initial locations; simultaneous localization and mapping; Biomedical imaging; Covariance matrix; Image registration; Information filters; Medical robotics; Medical tests; Orbital robotics; Robot kinematics; Simultaneous localization and mapping; State estimation; Decoupled SLAM; Extended Information Filter; Image Registration; Map fusion; Multi-robot SLAM;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Sensors, Sensor Networks and Information, 2007. ISSNIP 2007. 3rd International Conference on
Conference_Location :
Melbourne, Qld.
Print_ISBN :
978-1-4244-1501-4
Electronic_ISBN :
978-1-4244-1502-1
Type :
conf
DOI :
10.1109/ISSNIP.2007.4496863
Filename :
4496863
Link To Document :
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