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CORB-SLAM: A Collaborative Visual SLAM System for Multiple Robots

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Collaborative Computing: Networking, Applications and Worksharing (CollaborateCom 2017)

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Abstract

With the single-robot visual SLAM method reaching maturity, the issue of collaboratively exploring unknown environments by multiple robots attracts increasing attention. In this paper, we present CORB-SLAM, a novel collaborative multi-robot visual SLAM system providing map fusing and map sharing capabilities. Experimental results on popular public datasets demonstrate the performance of the CORB-SLAM. Furthermore, we make the source code of CORB-SLAM to be publicly available (https://github.com/lifunudt/CORB-SLAM.git).

Project 91648204 supported by NSFC, project ZDYYJCYJ20140601 supported by NUDT, and project 201602-01 supported by HPCL.

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  1. 1.

    http://v.youku.com/v_show/id_XMjg5MTkyMzY3Ng.

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Authors and Affiliations

  1. State Key Laboratery of High Performance Computing (HPCL), National University of Defense Technology, Changsha, China

    Fu Li, Shaowu Yang, Xiaodong Yi & Xuejun Yang

  2. College of Computer, National University of Defense Technology, Changsha, China

    Fu Li, Shaowu Yang, Xiaodong Yi & Xuejun Yang

Authors
  1. Fu Li
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  2. Shaowu Yang
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  3. Xiaodong Yi
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  4. Xuejun Yang
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Corresponding author

Correspondence to Shaowu Yang .

Editor information

Editors and Affiliations

  1. Edinburgh Napier University, Edinburgh, UK

    Imed Romdhani

  2. Guangdong University of Petrochemical Technology, Maoming, China

    Lei Shu

  3. Osaka University, Osaka, Japan

    Hara Takahiro

  4. China University of Geosciences, Beijing, China

    Zhangbing Zhou

  5. University of Nebraska–Lincoln, Lincoln, UK

    Timothy Gordon

  6. School of Computer Science, China University of Geosciences, Wuhan, Hubei, China

    Deze Zeng

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© 2018 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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Li, F., Yang, S., Yi, X., Yang, X. (2018). CORB-SLAM: A Collaborative Visual SLAM System for Multiple Robots. In: Romdhani, I., Shu, L., Takahiro, H., Zhou, Z., Gordon, T., Zeng, D. (eds) Collaborative Computing: Networking, Applications and Worksharing. CollaborateCom 2017. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 252. Springer, Cham. https://doi.org/10.1007/978-3-030-00916-8_45

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  • DOI: https://doi.org/10.1007/978-3-030-00916-8_45

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-00915-1

  • Online ISBN: 978-3-030-00916-8

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