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Multi-UAV Collaborative Monocular SLAM Focusing on Data Sharing

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Neural Information Processing (ICONIP 2018)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 11307))

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Abstract

Sharing data among Unmanned Aerial Vehicles (UAVs) is one of key issues in the field of multiple-robot SLAM. In this paper, aiming at problems of sharing data between UAVs during tracking lost and map fusion, we propose a robust, focusing on Date Sharing Multi-UAV visual SLAM (DSM-SLAM) based on centralized architecture. In addition, we present a two-step relocalization method based on sharing local maps, in order to support the UAV in using the data from other UAVs which have gone there before when the tracking is lost. Furthermore, we put forward a map fusion method based on hierarchical clustering to dynamically and adaptively select the order of map fusion that is more beneficial to data sharing between drones. Experimental results on popular public datasets demonstrate the feasibility and effectiveness of the system.

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Acknowledgments

This work was supported by the National Key Research and Development Program of China (2017YFB1001901).

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Authors and Affiliations

  1. Science and Technology on Parallel and Distributed Laboratory, National University of Defense Technology, Changsha, 410073, China

    Zhuoyue Yang, Dianxi Shi, Yongjun Zhang & Ruoxiang Li

  2. State Key Laboratory of High Performance Computing, National University of Defense Technology, Changsha, 410073, China

    Shaowu Yang & Fu Li

  3. College of Computer, National University of Defense Technology, Changsha, 410073, China

    Zhuoyue Yang, Dianxi Shi, Yongjun Zhang, Shaowu Yang, Fu Li & Ruoxiang Li

  4. Artificial Intelligence Research Center (AIRC), National Innovation Institute of Defense Technology (NIIDT), Beijing, 100166, China

    Dianxi Shi & Yongjun Zhang

Authors
  1. Zhuoyue Yang
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  2. Dianxi Shi
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  3. Yongjun Zhang
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  4. Shaowu Yang
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  5. Fu Li
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  6. Ruoxiang Li
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Corresponding authors

Correspondence to Zhuoyue Yang , Dianxi Shi or Yongjun Zhang .

Editor information

Editors and Affiliations

  1. The Chinese Academy of Sciences, Beijing, China

    Long Cheng

  2. City University of Hong Kong, Kowloon, Hong Kong

    Andrew Chi Sing Leung

  3. Kobe University, Kobe, Japan

    Seiichi Ozawa

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Yang, Z., Shi, D., Zhang, Y., Yang, S., Li, F., Li, R. (2018). Multi-UAV Collaborative Monocular SLAM Focusing on Data Sharing. In: Cheng, L., Leung, A., Ozawa, S. (eds) Neural Information Processing. ICONIP 2018. Lecture Notes in Computer Science(), vol 11307. Springer, Cham. https://doi.org/10.1007/978-3-030-04239-4_10

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  • DOI: https://doi.org/10.1007/978-3-030-04239-4_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-04238-7

  • Online ISBN: 978-3-030-04239-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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