A General Consistent Decentralized Simultaneous Localization And Mapping Solution

Abstract : In this paper, we propose a new approach to the decentralized Simultaneous Localization And Mapping (SLAM) problem. The goal is to demonstrate the feasibility of decentralized localization using low-density maps built with low-cost sensors. This problem is challenging at different levels. Indeed, each vehicle localization tends to drift over time independently of one another making the global localization of a fleet hard to achieve. To counter this effect, called SLAM inconsistency and which has been stated numerous times in the literature, we introduce a model to represent the natural drift of SLAM algorithms. Its integration inside an Extended Kalman Filter is explained along with simulations validating its use. The second part of this paper presents the fusion architecture designed to solve the different problems arising in a decentralized scheme. It avoids data incest, which is an important source of inconsistency, and integrates the previously mentioned SLAM drift in the estimates produced. This architecture also separates the SLAM classically used for mono-vehicle applications from the high-level decentralized part offering flexibility regarding sensors and algorithms at a low-level. Other aspects, involved by the multi-vehicle settings, are also taken into account (communication losses, latencies, desynchronizations, unknown initial positions of the fleet members and data association). The whole algorithm has been tested in various scenarios with vehicles equipped with a single camera and an odometer. The results, from both simulated and real scenarios, show that our approach can work in real time with very small bandwidth requirements.
Type de document :
Article dans une revue
Robotics and Autonomous Systems, Elsevier, 2015, 74, Part A, pp.128-147
Liste complète des métadonnées

Littérature citée [54 références]  Voir  Masquer  Télécharger

https://hal.archives-ouvertes.fr/hal-01711083
Contributeur : Guillaume Bresson <>
Soumis le : mardi 13 mars 2018 - 16:01:29
Dernière modification le : jeudi 26 avril 2018 - 10:28:23
Document(s) archivé(s) le : jeudi 14 juin 2018 - 12:19:40

Fichier

journal-RAS.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01711083, version 1

Citation

Guillaume Bresson, Romuald Aufrere, Roland Chapuis. A General Consistent Decentralized Simultaneous Localization And Mapping Solution. Robotics and Autonomous Systems, Elsevier, 2015, 74, Part A, pp.128-147. 〈hal-01711083〉

Partager

Métriques

Consultations de la notice

109

Téléchargements de fichiers

43