Review of Research on Multi-robot Visual Simultaneous Localization and Mapping

doi:10.3901/JME.2022.11.011

Abstract

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

CLC Number:

TG156

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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