Efficient Decentralized Collaborative Mapping for Outdoor Environments

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.
Document type :
Conference papers
Liste complète des métadonnées

Cited literature [22 references]  Display  Hide  Download

https://hal.inria.fr/hal-01689868
Contributor : Olivier Kermorgant <>
Submitted on : Monday, January 22, 2018 - 3:01:56 PM
Last modification on : Tuesday, March 26, 2019 - 9:25:21 AM
Document(s) archivé(s) le : Thursday, May 24, 2018 - 9:46:04 AM

File

2018_IRC_Contreras.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01689868, version 1

Collections

Citation

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

Share

Metrics

Record views

178

Files downloads

190