Efficient Decentralized Collaborative Mapping for Outdoor Environments - Archive ouverte HAL Access content directly
Conference Papers Year :

Efficient Decentralized Collaborative Mapping for Outdoor Environments

(1, 2, 3) , (1, 2, 3) , (1, 2, 3)
1
2
3

Abstract

An efficient mapping in mobile robotics may involve the participation of several agents. In this context, this article presents a framework for collaborative mapping applied to outdoor environments considering a decentralized approach. The mapping approach uses range measurements from a 3D lidar moving in six degrees of freedom. For that case, each robot performs a local SLAM. The maps are then merged when communication is available between the mobile units. This allows building a global map and to improve the state estimation of each agent. Experimental results are presented, where partial maps of the same environment are aligned and merged coherently in spite of the noise from the lidar measurement.
Fichier principal
Vignette du fichier
2018_IRC_Contreras.pdf (4.65 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01689868 , version 1 (22-01-2018)

Identifiers

  • HAL Id : hal-01689868 , version 1

Cite

Luis F Contreras-Samamé, Olivier Kermorgant, Philippe Martinet. Efficient Decentralized Collaborative Mapping for Outdoor Environments. International Conference on Robotic Computing, Jan 2018, Laguna Hills, United States. ⟨hal-01689868⟩
227 View
259 Download

Share

Gmail Facebook Twitter LinkedIn More