Quantitative trajectory evaluation criterion and long-term enhancement for multi-robot slam

• Main Author: Liu, Xiangyu
• Other Authors: Wang Dan Wei
• Format: Theses and Dissertations
• Language: English
• Published: 2019
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: http://hdl.handle.net/10356/78500
• Institution: Nanyang Technological University

Multi robot SLAM systems have several advantages e.g. robustness and quicker exploration, which determine they have better performance and importance than single robot SLAM especially in time critical Search and Rescure missions. However, the development of multi robot SLAM is much slower, because of the difficulties such as determination of relative poses of robots and communication, etc. CORB-SLAM as a multi robot SLAM system, of which the clients are based on ORB-SLAM2, inheriting its advantages like low-cost sensor configuration and low computation cost, has not been evaluated in a quantitative method to assess its performance. For multi robot SLAM, the adaptability in long-term scenarios is another important research topic, since multi robots may run in different dates and seasons. Because CORB-SLAM does not employ extra algorithms to suppress illumination changes, its long-term performance is limited. This work quantitatively evaluates CORB-SLAM, and experiments to combine it with illumination variance algorithm to improve its performance under different illumination and season.