A Collaborative Visual SLAM Framework for Service Robots
Ming Ouyang,Xuesong Shi,Yujie Wang,Yuxin Tian,Yingzhe Shen,Dawei Wang,Peng Wang,Zhiqiang Cao,Ming Ouyang,Xuesong Shi,Yujie Wang,Yuxin Tian,Yingzhe Shen,Dawei Wang,Peng Wang,Zhiqiang Cao
We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map, update the map, or build new maps, all with a unified interface and low computation and memory cost. We design an elegant communication pipeline to enable real-time...
