TL;DR
DOOR-SLAM is a distributed SLAM system for robotic teams that effectively rejects outliers, allowing for more accurate localization with less conservative parameters and minimal communication.
Contribution
It introduces a novel outlier rejection mechanism and a distributed SLAM framework that improves accuracy and robustness in multi-robot environments without full connectivity.
Findings
More inter-robot loop closures detected
Successfully rejects outliers in loop closure detection
Achieves accurate trajectories in GPS-denied environments
Abstract
To achieve collaborative tasks, robots in a team need to have a shared understanding of the environment and their location within it. Distributed Simultaneous Localization and Mapping (SLAM) offers a practical solution to localize the robots without relying on an external positioning system (e.g. GPS) and with minimal information exchange. Unfortunately, current distributed SLAM systems are vulnerable to perception outliers and therefore tend to use very conservative parameters for inter-robot place recognition. However, being too conservative comes at the cost of rejecting many valid loop closure candidates, which results in less accurate trajectory estimates. This paper introduces DOOR-SLAM, a fully distributed SLAM system with an outlier rejection mechanism that can work with less conservative parameters. DOOR-SLAM is based on peer-to-peer communication and does not require full…
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