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Multi-Agent Visual Slam /

Andresen, Wyatt Cole,

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Multi-Agent Visual Slam /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Multi-Agent Visual Slam // Wyatt Cole Andresen.
作者:	Andresen, Wyatt Cole,
面頁冊數:	1 electronic resource (50 pages)
附註:	Source: Masters Abstracts International, Volume: 84-04.
Contained By:	Masters Abstracts International84-04.
標題:	Usability. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=29342792
ISBN:	9798351499871

Multi-Agent Visual Slam /
Andresen, Wyatt Cole,

Multi-Agent Visual Slam /Wyatt Cole Andresen. - 1 electronic resource (50 pages)

Source: Masters Abstracts International, Volume: 84-04.

In visual simultaneous localization and mapping (vSLAM), camera(s) attached to an agent are used to construct a map of the environment and determine the location of the agent within the environment. As vSLAM algorithms have matured in recent years, multiagent vSLAM, where multiple agents collaboratively perform SLAM together, has become an important area of research. Much of this research focuses on the core architectural and communications problems that are inherent to centralized and decentralized multi-agent systems of all kinds. More exclusive to multi-agent vSLAM, however, is the problem of combining the maps of multiple agents, called map fusion. In this thesis a real-time system for performing multi-agent vSLAM is proposed. Specifically, a fully centralized multi-agent architecture is implemented to minimize the communications issues in centralized and decentralized architectures. Then, a map fusion algorithm is proposed that efficiently merges two maps into one using loop closure techniques such as place recognition. Novelly, covisibility connections are identified globally between the maps, not only in the area of overlap, in a step called covisibility discovery. The performance of the proposed system is evaluated qualitatively against ground truth trajectories by visual inspection, then quantitatively compared to ORB-SLAM2 with absolute and relative pose errors. The results show no to low loss of accuracy, excellent global discovery of covisibility connections, and near real-time performance within limited computational resources.

English

ISBN: 9798351499871Subjects--Topical Terms:

3681540
Usability.

Multi-Agent Visual Slam /
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