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Event-driven loop closure in multi-robot mapping
2009 (English)In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE conference proceedings, 2009, 1535-1540Conference paper (Refereed)
Abstract [en]

A large-scale mapping approach is combined with multiple robots events to achieve cooperative mapping. The mapping approach used is based on hierarchical SLAM -global level and local maps-, which is generalized for the multi-robot case. In particular, the consequences of multi-robot loop closing events (common landmarks detection and relative pose measurement between robots) are analyzed and managed at a global level. We present simulation results for each of these events using aerial and ground robots, and experimental results obtained with ground robots.

National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:liu:diva-73414 (URN)10.1109/IROS.2009.5354335 (DOI)978-1-4244-3803-7 (ISBN)oai:DiVA.org:liu-73414 (OAI)diva2:472030 (DiVA)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 11-15 October, October, St. Louis, USA
Available from2012-01-03 Created:2012-01-03 Last updated:2012-01-24Bibliographically approved

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Vidal-Calleja, TeresaBerger, CyrilleLacroix, Simon
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University of Sydney, AustraliaKPLAB - Knowledge Processing LabThe Institute of Technology
Computer Vision and Robotics (Autonomous Systems)

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