Abstract
This paper proposes an enhanced mapping of multi-robot using a DSIFT to reduce the mapping calculation time. In this approach, the master robot transmits each robot’s mapping information in SLAM by DSIFT, which incorporates an additional step on the SIFT. The DSIFT uses a keypoint to reduce the distortional information throughout the Gaussian filter after the step of the image descriptor. The master robot calculates the slave robot’s pose using picture images, and serves the results to all the robots. Simulation results are presented based on DSIFT showing better performance than using the SIFT in multi-robot mapping situations.
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Choi, KS., Kim, YG., An, J., Lee, SG. (2010). Enhanced Mapping of Multi-robot Using Distortion Reducing Filter Based SIFT. In: Tan, Y., Shi, Y., Tan, K.C. (eds) Advances in Swarm Intelligence. ICSI 2010. Lecture Notes in Computer Science, vol 6145. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13495-1_80
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DOI: https://doi.org/10.1007/978-3-642-13495-1_80
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-13494-4
Online ISBN: 978-3-642-13495-1
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