Multi-Robot Localization and Mapping based on Signed Distance Functions

被引：8

作者：

Koch, Philipp ^{[1
]}

May, Stefan ^{[1
]}

Schmidpeter, Michael ^{[1
]}

Kuehn, Markus ^{[1
]}

Pfitzner, Christian ^{[1
]}

Merkl, Christian ^{[1
]}

Koch, Rainer ^{[1
]}

Fees, Martin ^{[1
]}

Martin, Jon ^{[1
]}

Nuechter, Andreas ^{[2
]}

机构：

[1] Nuremberg Inst Technol Georg Simon Ohm, Fac Elect Engn, Precis Engn, Informat Technol, Nurnberg, Germany

[2] Julius Maximilians Univ Wurzburg, Informat Robot & Telemat 7, Wurzburg, Germany

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC) | 2015年

关键词：

D O I：

10.1109/ICARSC.2015.18

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This publication describes a 2D Simultaneous Localization and Mapping approach applicable to multiple mobile robots. The presented strategy uses data of 2D LIDAR sensors to build a dynamic representation based on Signed Distance Functions. A multi-threaded software architecture performs registration and data integration in parallel allowing for drift-reduced pose estimation of multiple robots. Experiments are provided demonstrating the application with single and multiple robot mapping using simulated data, public accessible recorded data as well as two actual robots operating in a comparably large area.

引用

页码：77 / 82

页数：6

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