A Centralized Cooperative SLAM System for Improving Positioning and Perception Accuracy in GPS-Denied Environments

Xiaotian Li; Zhengjie Wang; Yunfei Tan; Xiaoning Zhang

doi:10.1109/ICUS58632.2023.10318269

A Centralized Cooperative SLAM System for Improving Positioning and Perception Accuracy in GPS-Denied Environments

Xiaotian Li, Zhengjie Wang^*, Yunfei Tan, Xiaoning Zhang

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

One of the key points in robotic collaboration is localization. In some scenarios where the Global Navigation Satellite System (GNSS) signal is unavailable, robots must rely on their own sensors for environment perception and self-localization. Simultaneous Localization And Mapping (SLAM) technology, as a widely used method for perceiving the external environment, has been extensively applied in the field of robotics. The existing work faced problems with scalability, robustness, and data association inaccuracies, and therefore this paper developed a collaborative vision SLAM algorithm for multi-robots. The proposed system, based on a centralized collaborative architecture, adopts a centralized collaborative architecture, including a central node and several sub-nodes. We also conducted simulations and experiments on homogeneous and heterogeneous platforms, demonstrating that the system can perform high-efficiency and high-precision positional perception in indoor and outdoor environments.

Original language	English
Title of host publication	Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Editors	Rong Song
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	812-817
Number of pages	6
ISBN (Electronic)	9798350316308
DOIs	https://doi.org/10.1109/ICUS58632.2023.10318269
Publication status	Published - 2023
Event	2023 IEEE International Conference on Unmanned Systems, ICUS 2023 - Hefei, China Duration: 13 Oct 2023 → 15 Oct 2023

Publication series

Name	Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023

Conference

Conference	2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Country/Territory	China
City	Hefei
Period	13/10/23 → 15/10/23

Keywords

centralized architecture
collaborative localization and mapping
visual SLAM

Access to Document

10.1109/ICUS58632.2023.10318269

Cite this

Li, X., Wang, Z., Tan, Y., & Zhang, X. (2023). A Centralized Cooperative SLAM System for Improving Positioning and Perception Accuracy in GPS-Denied Environments. In R. Song (Ed.), Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023 (pp. 812-817). (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS58632.2023.10318269

Li, Xiaotian ; Wang, Zhengjie ; Tan, Yunfei et al. / A Centralized Cooperative SLAM System for Improving Positioning and Perception Accuracy in GPS-Denied Environments. Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. editor / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 812-817 (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023).

@inproceedings{ee4e964a79d142cca0e5332863df461c,

title = "A Centralized Cooperative SLAM System for Improving Positioning and Perception Accuracy in GPS-Denied Environments",

abstract = "One of the key points in robotic collaboration is localization. In some scenarios where the Global Navigation Satellite System (GNSS) signal is unavailable, robots must rely on their own sensors for environment perception and self-localization. Simultaneous Localization And Mapping (SLAM) technology, as a widely used method for perceiving the external environment, has been extensively applied in the field of robotics. The existing work faced problems with scalability, robustness, and data association inaccuracies, and therefore this paper developed a collaborative vision SLAM algorithm for multi-robots. The proposed system, based on a centralized collaborative architecture, adopts a centralized collaborative architecture, including a central node and several sub-nodes. We also conducted simulations and experiments on homogeneous and heterogeneous platforms, demonstrating that the system can perform high-efficiency and high-precision positional perception in indoor and outdoor environments.",

keywords = "centralized architecture, collaborative localization and mapping, visual SLAM",

author = "Xiaotian Li and Zhengjie Wang and Yunfei Tan and Xiaoning Zhang",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Unmanned Systems, ICUS 2023 ; Conference date: 13-10-2023 Through 15-10-2023",

year = "2023",

doi = "10.1109/ICUS58632.2023.10318269",

language = "English",

series = "Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "812--817",

editor = "Rong Song",

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address = "United States",

}

Li, X, Wang, Z, Tan, Y & Zhang, X 2023, A Centralized Cooperative SLAM System for Improving Positioning and Perception Accuracy in GPS-Denied Environments. in R Song (ed.), Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023, Institute of Electrical and Electronics Engineers Inc., pp. 812-817, 2023 IEEE International Conference on Unmanned Systems, ICUS 2023, Hefei, China, 13/10/23. https://doi.org/10.1109/ICUS58632.2023.10318269

A Centralized Cooperative SLAM System for Improving Positioning and Perception Accuracy in GPS-Denied Environments. / Li, Xiaotian; Wang, Zhengjie; Tan, Yunfei et al.
Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. ed. / Rong Song. Institute of Electrical and Electronics Engineers Inc., 2023. p. 812-817 (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2023

Y1 - 2023

N2 - One of the key points in robotic collaboration is localization. In some scenarios where the Global Navigation Satellite System (GNSS) signal is unavailable, robots must rely on their own sensors for environment perception and self-localization. Simultaneous Localization And Mapping (SLAM) technology, as a widely used method for perceiving the external environment, has been extensively applied in the field of robotics. The existing work faced problems with scalability, robustness, and data association inaccuracies, and therefore this paper developed a collaborative vision SLAM algorithm for multi-robots. The proposed system, based on a centralized collaborative architecture, adopts a centralized collaborative architecture, including a central node and several sub-nodes. We also conducted simulations and experiments on homogeneous and heterogeneous platforms, demonstrating that the system can perform high-efficiency and high-precision positional perception in indoor and outdoor environments.

AB - One of the key points in robotic collaboration is localization. In some scenarios where the Global Navigation Satellite System (GNSS) signal is unavailable, robots must rely on their own sensors for environment perception and self-localization. Simultaneous Localization And Mapping (SLAM) technology, as a widely used method for perceiving the external environment, has been extensively applied in the field of robotics. The existing work faced problems with scalability, robustness, and data association inaccuracies, and therefore this paper developed a collaborative vision SLAM algorithm for multi-robots. The proposed system, based on a centralized collaborative architecture, adopts a centralized collaborative architecture, including a central node and several sub-nodes. We also conducted simulations and experiments on homogeneous and heterogeneous platforms, demonstrating that the system can perform high-efficiency and high-precision positional perception in indoor and outdoor environments.

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Li X, Wang Z, Tan Y, Zhang X. A Centralized Cooperative SLAM System for Improving Positioning and Perception Accuracy in GPS-Denied Environments. In Song R, editor, Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 812-817. (Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023). doi: 10.1109/ICUS58632.2023.10318269

A Centralized Cooperative SLAM System for Improving Positioning and Perception Accuracy in GPS-Denied Environments

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