Current study on multi-robot collaborative vision SLAM

摘要

Simultaneous Localization and Mapping (SLAM) stands as a vital technology for automatic control of robots. The significance of vision-based multi-robot collaborative SLAM technology is noteworthy in this domain, because visual SLAM uses cameras as the main sensor, which offers the benefits of easy access to environmental information and convenient installation. And the multi-robot system has the advantages of high efficiency, high fault tolerance, and high precision, so the multi-robot system can work in a complex environment and ensure its mapping efficiency, these may be a challenge for a single robot. This paper introduces the principles and common methods of visual SLAM, as well as the main algorithms of multi-robot collaborative SLAM. This paper analyzed the main problems existing in the current multi-robot collaborative visual SLAM technology: multi-robot SLAM task allocation, map fusion and back-end optimization. Then this paper listed different solutions, and analyzed their advantages and disadvantages. In addition, this paper also introduces some future research prospects of multi-robot collaborative visual SLAM technology, aiming to provide a reference direction for subsequent research in related fields.