Collaborative Robot Mapping using Spectral Graph Analysis
Lukas Bernreiter,Shehryar Khattak,Lionel Ott,Roland Siegwart,Marco Hutter,Cesar Cadena,Lukas Bernreiter,Shehryar Khattak,Lionel Ott,Roland Siegwart,Marco Hutter,Cesar Cadena
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then communicated to a central server to build an optimized global map. However, inconsistencies between onboard and server estimates can occur due to onboard odometr...
