@inproceedings{518632b905fe4f40ba70bac46ce11860,
title = "A Modification of ORB-SLAM2 for Multi-Robot SLAM",
abstract = "ORB-SLAM2 consumes much time on descriptors calculating, which is a great challenge for real-time performance of SLAM. In this paper, we proposed a modified ORB-SLAM2 method named SD-SLAM2, which achieved better real-time performance than ORB-SLAM2, by replacing the extraction and description of ORB features with sparse direct method. Based on SD-SLAM2, we implemented centralized collaborative SLAM for multi-robot. Experimental results on popular public datasets demonstrate the performance of SD-SLAM2 in monomer SLAM. We also conducted field experiments for multi-robot, whose results demonstrate the performance of SD-SLAM2 in multi-robot SLAM.",
keywords = "ORB-SLAM2, SD-SLAM2, multi-agent, real-time performance, sparse direct, visual SLAM",
author = "Jiabin Chen and Feipeng Zhao and Junyu Liang",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 35th Chinese Control and Decision Conference, CCDC 2023 ; Conference date: 20-05-2023 Through 22-05-2023",
year = "2023",
doi = "10.1109/CCDC58219.2023.10326483",
language = "English",
series = "Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2348--2353",
booktitle = "Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023",
address = "United States",
}