文献类型：会议论文

英文题名：An Efficient Multi-Robot 3D SLAM Algorithm

作者：Shi, Shangjie[1];Zhou, Wei[1];Liu, Shuang[1,2]

机构：[1]East China Univ Sci & Technol, Sch Mech & Powering, Shanghai 200237, Peoples R China;[2]Nanjing Univ Sci & Technol, Minist Educ, Key Lab Intelligent Percept & Syst High Dimens In, Nanjing 210094, Jiangsu, Peoples R China

会议论文集：7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)

会议日期：JUL 31-AUG 04, 2017

会议地点：Honolulu, HI

语种：英文

外文关键词：Multi-robot; 3D SLAM; Map fusion and Real-time localization

摘要：In this paper, an efficient multi-robot 3D SLAM algorithm is presented for environment reconstruction. A team of mobile robots, each equipped with a Kinect sensor, cooperate to explore the unknown environment with unknown poses. Each of them is allowed to build its local map and to share the local map among other mates. A survival of the fittest strategy that the points and keyframes of the reconstruction are selected to improve the robustness. By matching the overlapping tendency of any two mates, a map fusion strategy is introduced which in result is building a global map. Finally, G2O optimization library is applied to build an optimized global map. Experiments are performed to demonstrate the efficiency of the proposed approach.