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In this paper we present a distributed architecture for the S-PTAM stereo SLAM system. This architecture is developed on the ROS framework, separating the localization and mapping threads in two independent ROS nodes. The distributed SLAM system is ideal for mobile robots with low computing power since it allows the onboard location module and the mapping module -which has a higher computing costto be executed in a base station, taking maximum advantage of the processing available onboard. For the validation of the system, Creative Commons Reconocimiento-NoComercial 4.0 Internacional

Diseño Distribuido de un Sistema de Mapeo y Localización basado en visión para un Robot Móvil