CORB-SLAM: A Collaborative Visual SLAM System for Multiple Robots

Fu Li; Shaowu Yang; Xiaodong Yi; Xuejun Yang

Collaborative Computing: Networking, Applications and Worksharing. 13th International Conference, CollaborateCom 2017, Edinburgh, UK, December 11–13, 2017, Proceedings

Research Article

CORB-SLAM: A Collaborative Visual SLAM System for Multiple Robots

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@INPROCEEDINGS{10.1007/978-3-030-00916-8_45,
    author={Fu Li and Shaowu Yang and Xiaodong Yi and Xuejun Yang},
    title={CORB-SLAM: A Collaborative Visual SLAM System for Multiple Robots},
    proceedings={Collaborative Computing: Networking, Applications and Worksharing. 13th International Conference, CollaborateCom 2017, Edinburgh, UK, December 11--13, 2017, Proceedings},
    proceedings_a={COLLABORATECOM},
    year={2018},
    month={10},
    keywords={Collaborative visual SLAM Map fusing Map sharing},
    doi={10.1007/978-3-030-00916-8_45}
}

Fu Li
Shaowu Yang
Xiaodong Yi
Xuejun Yang
Year: 2018
CORB-SLAM: A Collaborative Visual SLAM System for Multiple Robots
COLLABORATECOM
Springer
DOI: 10.1007/978-3-030-00916-8_45

Fu Li, Shaowu Yang^,*, Xiaodong Yi, Xuejun Yang

*Contact email: shaowu.yang@nudt.edu.cn

Abstract

With the single-robot visual SLAM method reaching maturity, the issue of collaboratively exploring unknown environments by multiple robots attracts increasing attention. In this paper, we present CORB-SLAM, a novel collaborative multi-robot visual SLAM system providing map fusing and map sharing capabilities. Experimental results on popular public datasets demonstrate the performance of the CORB-SLAM. Furthermore, we make the source code of CORB-SLAM to be publicly available ().

Keywords: Collaborative visual SLAM Map fusing Map sharing

Published: 2018-10-17
Appears in: SpringerLink

: http://dx.doi.org/10.1007/978-3-030-00916-8_45