Real-time Decentralized Monocular SLAM | Zendy

Guillaume Bresson | Zendy; Romuald Aufrère | Zendy; Roland Chapuis | Zendy

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Real-time Decentralized Monocular SLAM

Author(s) -

Guillaume Bresson,

Romuald Aufrère,

Roland Chapuis

Publication year - 2012

Publication title -

hal (le centre pour la communication scientifique directe)

Language(s) - English

Resource type - Conference proceedings

DOI - 10.1109/icarcv.2012.6485297

Subject(s) - computer science , simultaneous localization and mapping , kalman filter , frame (networking) , process (computing) , scheme (mathematics) , trajectory , artificial intelligence , computer vision , real time computing , extended kalman filter , filter (signal processing) , architecture , mobile robot , robot , computer network , mathematical analysis , physics , mathematics , astronomy , operating system , art , visual arts

This paper presents a real-time Decentralized Monocular SLAM process. It is the first time, to our knowledge, that a decentralized SLAM with vehicles using only proprioceptive sensors and a single camera is presented. A new architecture has been built to cope with the problems involved by a decentralized scheme. A special care has been given to the data incest problem. It is solved thanks to a substate system. Network aspects and computational time are also considered. By using an Extended Kalman Filter and sending only essential information, we are able to make our decentralized algorithm suitable for an important number of vehicles. We also introduce a way to retrieve the distance between vehicles and so to put the different maps built in a common frame. This approach was tested using a realistic simulator with different trajectories.

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