Dense Decentralized Multi-robot SLAM based on locally consistent TSDF submaps
Rodolphe Dubois,Alexandre Eudes,Julien Moras,Vincent Frémont,Rodolphe Dubois,Alexandre Eudes,Julien Moras,Vincent Frémont
This article introduces a decentralized multi-robot algorithm for Simultaneous Localization And Mapping (SLAM) inspired from previous work on collaborative mapping [1]. This method makes robots jointly build and exchange i) a collection of 3D dense locally consistent submaps, based on a Truncated Signed Distance Field (TSDF) representation of the environment, and ii) a pose-graph representation wh...
