Publication

Cooperative map building: An approach to distributed, multi-modal SLAM

Sebastian Kasperski

Bericht DFKI GmbH DFKI Documents (D) 15-03 9/2015.

Abstract

The talk will present the work that is currently done towards distributed map-building with teams of mobile robots in the project TransTerrA. A brief explanation of the core concept of graph-based SLAM is followed by an overview of the mapping currently developed at DFKI. It will then discuss why graph-based approaches to the SLAM problem are inherently well suited for cooperation in an heterogeneous team of robots equipped with different types of sensors.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz