Abstract
In a typical visual Simultaneous Localization and Mapping (SLAM) algorithm integrated within a single unmanned aerial vehicle (UAV), the positioning drift will increase cumulatively due to the motion and dynamic of UAV platform, which could be efficiently alleviated by the introduction of loop detection. However, a large number of loop movements by a single UAV will result in too many turns of the drone with significant reduction of coverage area per unit time. Therefore, in this paper, we propose a collaborative framework of visual SLAM algorithm with a multiple UAVs system. In the proposed framework, a series of mutually closed loop will be detected and executed by multiple UAVs within the position map. By this coordination method, the position accuracy of the system could be obviously improved, through the experimental results compared with a single UAV SLAM system.
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Acknowledgments
The authors would like to express their high appreciations to the supports from the National Natural Science Foundation of China (61871426) and Basic Research Project of Shenzhen (JCYJ20170413110004682).
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© 2019 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering
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Yu, H., Li, H., Yang, Z. (2019). Collaborative Visual SLAM Framework for a Multi-UAVs System Based on Mutually Loop Closing. In: Jia, M., Guo, Q., Meng, W. (eds) Wireless and Satellite Systems. WiSATS 2019. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 280. Springer, Cham. https://doi.org/10.1007/978-3-030-19153-5_64
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DOI: https://doi.org/10.1007/978-3-030-19153-5_64
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