A Modification of ORB-SLAM2 for Multi-Robot SLAM

被引：0
|
作者：
Chen, Jiabin [1 ]
Zhao, Feipeng [1 ]
Liang, Junyu [1 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing, Peoples R China
来源：
2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2023年
关键词：
SD-SLAM2; visual SLAM; ORB-SLAM2; sparse direct; real-time performance; multi-agent;
D O I：
10.1109/CCDC58219.2023.10326483
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
ORB-SLAM2 consumes much time on descriptors calculating, which is a great challenge for real-time performance of SLAM. In this paper, we proposed a modified ORB-SLAM2 method named SD-SLAM2, which achieved better real-time performance than ORB-SLAM2, by replacing the extraction and description of ORB features with sparse direct method. Based on SD-SLAM2, we implemented centralized collaborative SLAM for multi-robot. Experimental results on popular public datasets demonstrate the performance of SD-SLAM2 in monomer SLAM. We also conducted field experiments for multi-robot, whose results demonstrate the performance of SD-SLAM2 in multi-robot SLAM.
引用
收藏
页码：2348 / 2353
页数：6
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