A frame-by-frame integrated environment map building method in cooperative SLAM

Riku Yamasaki; Hidehiko Shishido; Yoshinari Kameda

doi:10.1117/12.2626168

30 April 2022 A frame-by-frame integrated environment map building method in cooperative SLAM

Riku Yamasaki, Hidehiko Shishido, Yoshinari Kameda

Author Affiliations +

Proceedings Volume 12177, International Workshop on Advanced Imaging Technology (IWAIT) 2022; 121770F (2022) https://doi.org/10.1117/12.2626168
Event: International Workshop on Advanced Imaging Technology 2022 (IWAIT 2022), 2022, Hong Kong, China

Abstract

We propose a unique method TWIN HEAD SLAM to build an integrated and consistent environment map by two camera heads that move freely with each other. Visual SLAM with multiple cameras is called cooperative SLAM. The updated environment map is shared by two tracking modules that are attached to each camera separately. Our contribution is that the integrated environment map is updated frame-by-frame from both camera inputs. This indicates that the key features obtained by one camera right now are instantly available on the tracking module of the other camera. We have implemented the proposed method based on OpenVSLAM and confirmed that two video inputs from two cameras are used to build the one consistent environment map that is shared by the localization modules of the two cameras.

Citation Download Citation

Riku Yamasaki, Hidehiko Shishido, and Yoshinari Kameda "A frame-by-frame integrated environment map building method in cooperative SLAM", Proc. SPIE 12177, International Workshop on Advanced Imaging Technology (IWAIT) 2022, 121770F (30 April 2022); https://doi.org/10.1117/12.2626168

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE