MULTI-ROBOT COOPERATIVE LIDAR SLAM FOR EFFICIENT MAPPING IN URBAN SCENES

摘要

Abstract. We first use the multi-robot SLAM framework DiSCo-SLAM to evaluate the performance of cooperative SLAM based on the complicated dataset in urban scenes. Besides, we perform comparisons of single-robot SLAM and multi-robot SLAM to explore whether the cooperative framework can noticeably improve robot localization performance and the influence of inter-robot constraints in local pose graph, utilizing an identical dataset generated via the Carla simulator. Our findings indicate that under specific conditions, the integration of inter-robot constraints may effectively mitigate drift in local pose estimation. The extent to which inter-robot constraints affect the correction of local SLAM is related to various factors, such as the confidence level of the constraints and the range of keyframes imposed by the constraint.