Data-Efficient Decentralized Visual SLAM

by   Titus Cieslewski, et al.

Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight and versatile sensors, and being decentralized, it does not rely on communication to a central ground station. In this work, we integrate state-of-the-art decentralized SLAM components into a new, complete decentralized visual SLAM system. To allow for data association and co-optimization, existing decentralized visual SLAM systems regularly exchange the full map data between all robots, incurring large data transfers at a complexity that scales quadratically with the robot count. In contrast, our method performs efficient data association in two stages: in the first stage a compact full-image descriptor is deterministically sent to only one robot. In the second stage, which is only executed if the first stage succeeded, the data required for relative pose estimation is sent, again to only one robot. Thus, data association scales linearly with the robot count and uses highly compact place representations. For optimization, a state-of-the-art decentralized pose-graph optimization method is used. It exchanges a minimum amount of data which is linear with trajectory overlap. We characterize the resulting system and identify bottlenecks in its components. The system is evaluated on publicly available data and we provide open access to the code.


page 1

page 2

page 3

page 4


Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems

Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital ...

Trajectory Servoing: Image-Based Trajectory Tracking Using SLAM

This paper describes an image based visual servoing (IBVS) system for a ...

Towards Decentralized Heterogeneous Multi-Robot SLAM and Target Tracking

In many robotics problems, there is a significant gain in collaborative ...

Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping

We present the first fully distributed multi-robot system for dense metr...

Efficient Decentralized Visual Place Recognition From Full-Image Descriptors

In this paper, we discuss the adaptation of our decentralized place reco...

Active Rendezvous for Multi-Robot Pose Graph Optimization using Sensing over Wi-Fi

We present a novel framework for collaboration amongst a team of robots ...

EVOLIN Benchmark: Evaluation of Line Detection and Association

Lines are interesting geometrical features commonly seen in indoor and u...

Please sign up or login with your details

Forgot password? Click here to reset