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
相关论文
共 50 条
  • [21] Multi-Robot SLAM using Condensed Measurements
    Lazaro, M. T.
    Paz, L. M.
    Pinies, P.
    Castellanos, J. A.
    Grisetti, G.
    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2013, : 1069 - 1076
  • [22] Multi-robot map alignment in visual SLAM
    Ballesta, Monica
    Gil, Arturo
    Reinoso, Oscar
    Juliá, Miguel
    Jiḿenez, Luis M.
    WSEAS Transactions on Systems, 2010, 9 (02): : 213 - 222
  • [23] Multi-robot SLAM with topological/metric maps
    Chang, H. Jacky
    Lee, C. S. George
    Hu, Y. Charlie
    Lu, Yung-Hsiang
    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, : 1473 - 1478
  • [24] Descriptor Distillation for Efficient Multi-Robot SLAM
    Guo, Xiyue
    Hu, Junjie
    Bao, Hujun
    Zhang, Guofeng
    2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA, 2023, : 6210 - 6216
  • [25] Multi-robot SLAM Using Ceiling Vision
    Lee, Hee Seok
    Lee, Kyoung Mu
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 912 - 917
  • [26] A Framework for Multi-Robot Pose Graph SLAM
    Deutsch, Isaac
    Liu, Ming
    Siegwart, Roland
    2016 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE RCAR), 2016, : 567 - 572
  • [27] A Survey on Multi-robot Particle Filter SLAM
    Gupta, Raj U.
    Conrad, James M.
    2019 IEEE SOUTHEASTCON, 2019,
  • [28] ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras
    Mur-Artal, Raul
    Tardos, Juan D.
    IEEE TRANSACTIONS ON ROBOTICS, 2017, 33 (05) : 1255 - 1262
  • [29] Comparison of ROS-Based Monocular Visual SLAM Methods: DSO, LDSO, ORB-SLAM2 and DynaSLAM
    Mingachev, Eldar
    Lavrenov, Roman
    Tsoy, Tatyana
    Matsuno, Fumitoshi
    Svinin, Mikhail
    Suthakorn, Jackrit
    Magid, Evgeni
    INTERACTIVE COLLABORATIVE ROBOTICS, ICR 2020, 2020, 12336 : 222 - 233
  • [30] 改进ORB特征提取算法的ORB-SLAM2定位研究
    季莘翔
    王宇钢
    林一鸣
    组合机床与自动化加工技术, 2023, (11) : 60 - 64
12345