Sitemap
A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
About Me
About Me
Posts
Future Blog Post
发布时间：
This post will show up by default. To disable scheduling of future posts, edit config.yml and set future: false.
Blog Post number 4
发布时间：
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 3
发布时间：
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 2
发布时间：
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
Blog Post number 1
发布时间：
This is a sample blog post. Lorem ipsum I can’t remember the rest of lorem ipsum and don’t have an internet connection right now. Testing testing testing this blog post. Blog posts are cool.
publications
A Lightweight, Centralized, Collaborative, Truncated Signed Distance Function-Based Dense Simultaneous Localization and Mapping System for Multiple Mobile Vehicles
Published in Sensors, 2024
Simultaneous Localization And Mapping (SLAM) algorithms play a critical role in autonomous exploration tasks requiring mobile robots to autonomously explore and gather information in unknown or hazardous environments where human access may be difficult or dangerous. However, due to the resource-constrained nature of mobile robots, they are hindered from performing long-term and large-scale tasks. In this paper, we propose an efficient multi-robot dense SLAM system that utilizes a centralized structure to alleviate the computational and memory burdens on the agents (i.e. mobile robots). To enable real-time dense mapping of the agent, we design a lightweight and accurate dense mapping method. On the server, to find correct loop closure inliers, we design a novel loop closure detection method based on both visual and dense geometric information. To correct the drifted poses of the agents, we integrate the dense geometric information along with the trajectory information into a multi-robot pose graph optimization problem. Experiments based on pre-recorded datasets have demonstrated our system’s efficiency and accuracy. Real-world online deployment of our system on the mobile vehicles achieved a dense mapping update rate of ∼14 frames per second (fps), a onboard mapping RAM usage of ∼3.4%, and a bandwidth usage of ∼302 KB/s with a Jetson Xavier NX.
Recommended citation: H Que, H Gao, W Shan, X Yang, R Zhao. A Lightweight, Centralized, Collaborative, Truncated Signed Distance Function-Based Dense Simultaneous Localization and Mapping System for Multiple Mobile Vehicles. Sensors. 2024, 24(22):7297. https://doi.org/10.3390/s24227297.
Download Paper