多机器人视觉同时定位与建图技术研究综述

doi:10.3901/JME.2022.11.011

摘要/Abstract

摘要： 同时定位与建图(Simultaneous localization and mapping, SLAM)技术是复杂、动态且GPS失效环境下多机器人系统(Multi-robot system, MRS)协同工作的基础和关键技术，对于提高机器人的自主化、智能化等具有重要意义。视觉传感器凭借其高分辨率、信息丰富、成本低廉等优点在SLAM中得到了广泛应用。首先简要回顾视觉SLAM理论基础，概括了多机器人视觉SLAM(Multi-robot visual SLAM, MR-VSLAM)的本质及优势，并基于该研究领域的应用需求总结归纳了当前MR-VSLAM技术存在的重点科学问题：如何进行视觉SLAM的全局关联，如何分配机器人资源执行SLAM驱动的协作建图策略，以及如何实现鲁棒的主动SLAM。其次，针对每个核心问题，对现有的解决方法进行了分类，提供了现有方法的全面综述，并讨论了其优缺点，分析了当前MR-VSLAM关键技术存在的问题。最后，基于上述分析总结展望了MR-VSLAM技术的热点问题及发展趋势。

关键词: 多机器人系统, 视觉SLAM, 全局关联, 协作建图, 主动SLAM

Abstract: The simultaneous localization and mapping (SLAM) technology is the basis and key technology for the collaborative work of multi-robot systems (MRS) in a complex, dynamic and GPS-denied environment, which is of great significance for improving the autonomy and intelligence of robots. Visual sensors have been widely used in SLAM due to their high resolution, rich information, low cost and other advantages. Based on a brief review of the visual SLAM and the application requirements of this research field, the essence and advantages of multi-robot visual SLAM (MR-VSLAM) are first summarized, and then the corresponding scientific problems are mainly outlined into three aspects:how to make the global association of visual SLAM, how to allocate robot resources to execute SLAM-driven collaborative mapping strategy, and how to implement robust active SLAM. Secondly, for each core problem, a comprehensive overview of the existing methods is carried out, while the advantages and disadvantages of related methods are discussed, and the problems existing in the current MR-VSLAM key technology are analyzed. Finally, the hot issues and development trend of the MR-VSLAM technology are concluded and discussed.

Key words: multi-robot systems, visual SLAM, global association, collaborative mapping, active SLAM

中图分类号:

TG156

阴贺生, 裴硕, 徐磊, 黄博. 多机器人视觉同时定位与建图技术研究综述[J]. 机械工程学报, 2022, 58(11): 11-36.

YIN Hesheng, PEI Shuo, XU Lei, HUANG Bo. Review of Research on Multi-robot Visual Simultaneous Localization and Mapping[J]. Journal of Mechanical Engineering, 2022, 58(11): 11-36.

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