Multi-robot, EKF-Based Visual SLAM System
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2014
paper
english
- SLAM
- multi-robot
- robot navigation
EN This paper presents the multi-robot visual SLAM system based on the Extended Kalman Filter. The widely known MonoSLAM system was modified to allow cooperation of several heterogeneous mobile robots. Moreover, the mechanism for mutual observations of the mobile robots was developed. The proposed system was evaluated using the video sequences gathered using two mobile robots. The incorporation of the relative pose measurements resulted in the reduction of the RMS of the trajectories’ reconstruction error by over 20%.
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