31 July 2002 Distributed SLAM
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Abstract
Previously, we have developed techniques for Simultaneous Localization and Map Building based on the augmented state Kalman filter. Here we report the results of experiments conducted over multiple vehicles each equipped with a laser range finder for sensing the external environment, and a laser tracking system to provide highly accurate ground truth. The goal is simultaneously to build a map of an unknown environment and to use that map to navigate a vehicle that otherwise would have no way of knowing its location, and to distribute this process over several vehicles. We have constructed an on-line, distributed implementation to demonstrate the principle. In this paper we describe the system architecture, the nature of the experimental set up, and the results obtained. These are compared with the estimated ground truth. We show that distributed SLAM has a clear advantage in the sense that it offers a potential super-linear speed-up over single vehicle SLAM. In particular, we explore the time taken to achieve a given quality of map, and consider the repeatability and accuracy of the method. Finally, we discuss some practical implementation issues.
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Lewis A. Binns, Lewis A. Binns, Dimitris Valachis, Dimitris Valachis, Sean Anderson, Sean Anderson, David W. Gough, David W. Gough, David Nicholson, David Nicholson, Phil Greenway, Phil Greenway, } "Distributed SLAM", Proc. SPIE 4729, Signal Processing, Sensor Fusion, and Target Recognition XI, (31 July 2002); doi: 10.1117/12.477628; https://doi.org/10.1117/12.477628
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