liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Environment Modeling for Cooperative Aerial/Ground Robotic Systems
LAAS/CNRS, University of Toulouse, Toulouse, France. (Center for Autonomous System)
LAAS/CNRS, University of Toulouse, Toulouse, France.ORCID iD: 0000-0003-3011-1505
LAAS/CNRS, University of Toulouse, Toulouse, France. (RIS)
LAAS/CNRS, University of Toulouse, Toulouse, France. (RIS)
2009 (English)In: Proceedings of the 14th International Symposium on Robotics Research (ISRR), Springer, 2009, 681-696 p.Conference paper (Refereed)
Abstract [en]

This paper addresses the cooperative localization and visual mapping problem for multiple aerial and ground robots.We propose the use of heterogeneous visual landmarks, points and line segments. A large-scale SLAM algorithm is generalized to manage multiple robots, in which a global graph maintains the topological relationships between a series of local sub-maps built by the different robots. Only single camera setups are considered: in order to achieve undelayed initialization, we present a novel parametrization for lines based on anchored Plücker coordinates, to which we add extensible endpoints to enhance their representativeness. The built maps combine such lines with 3D points parametrized in inverse-depth. The overall approach is evaluated with real-data taken with a helicopter and a ground rover in an abandoned village.

Place, publisher, year, edition, pages
Springer, 2009. 681-696 p.
Series
, Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 70
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:liu:diva-73415DOI: 10.1007/978-3-642-19457-3_40ISI: 000309893200040ISBN: 978-3-642-19456-6OAI: oai:DiVA.org:liu-73415DiVA: diva2:472038
Conference
The 14th International Symposium ISRR
Available from: 2012-01-03 Created: 2012-01-03 Last updated: 2016-09-19

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Berger, Cyrille
Computer Vision and Robotics (Autonomous Systems)

Search outside of DiVA

GoogleGoogle Scholar

Altmetric score

Total: 122 hits
ReferencesLink to record
Permanent link

Direct link