LiU Electronic Press
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Author:
Vidal-Calleja, Teresa (University of Sydney, Australia) (Center for Autonomous System)
Berger, Cyrille (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Lacroix, Simon (Robotics and InterationS group, LAAS, France)
Title:
Event-driven loop closure in multi-robot mapping
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference:
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 11-15 October, October, St. Louis, USA
Publisher: IEEE conference proceedings
Pages:
1535-1540
Year of publ.:
2009
URI:
urn:nbn:se:liu:diva-73414
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-73414
ISBN:
978-1-4244-3803-7
Subject category:
Computer Vision and Robotics (Autonomous Systems)
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.

Available from:
2012-01-03
Created:
2012-01-03
Last updated:
2012-01-24
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