Multiple Relative Pose Graphs for Robust Cooperative Mapping

Multiple Relative Pose Graphs for Robust Cooperative Mapping

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This paper describes a new algorithm for cooperative and persistent simultaneous localization and mapping (SLAM) using multiple robots. Recent pose graph representations have proven very successful for single robot mapping and localization. Among these methods, incremental smoothing and mapping (iSA...

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Main Authors: Kim, Been (Contributor), Kaess, Michael (Contributor), Fletcher, Luke Sebastian (Contributor), Leonard, John Joseph (Contributor), Bachrach, Abraham Galton (Contributor), Roy, Nicholas (Contributor), Teller, Seth (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor), Massachusetts Institute of Technology. Department of Mechanical Engineering (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2012-10-02T13:35:49Z.
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