Paper Info
Title
Environment Modeling for Cooperative Aerial/Ground Robotic Systems.
Abstract
This paper addresses the cooperative localization and visual mapping problem for multiple aerial and ground robots.We propose the use of heterogeneous visual landmarks, points and line segments. A large-scale SLAM algorithm is generalized to manage multiple robots, in which a global graph maintains the topological relationships between a series of local sub-maps built by the different robots. Only single camera setups are considered: in order to achieve undelayed initialization, we present a novel parametrization for lines based on anchored Plücker coordinates, to which we add extensible endpoints to enhance their representativeness. The built maps combine such lines with 3D points parametrized in inverse-depth. The overall approach is evaluated with real-data taken with a helicopter and a ground rover in an abandoned village.
Year
DOI
Venue
2009
10.1007/978-3-642-19457-3_40
ISRR
Field
DocType
Citations 
Robotic systems,Computer vision,Line segment,Parametrization,Visual odometry,Simulation,Computer science,Artificial intelligence,Initialization,Simultaneous localization and mapping,Robot,Plücker coordinates
Conference
2
PageRank 
References 
Authors
0.42
12
4
Name
Order
Citations
PageRank
Teresa A. Vidal-Calleja17315.59
Cyrille Berger21147.74
Joan Solà327719.66
Simon Lacroix424819.51