Abstract
We present a real-time monocular simultaneous localization and mapping (SLAM) system with a new distributed structure for multi-UAV collaboration tasks. The system is different from other general SLAM systems in two aspects: First, it does not aim to build a global map, but to estimate the latest relative position between nearby vehicles; Second, there is no centralized structure in the proposed system, and each vehicle owns an individual metric map and an ego-motion estimator to obtain the relative position between its own map and the neighboring vehicles’. To realize the above characteristics in real time, we demonstrate an innovative feature description and matching algorithm to avoid catastrophic expansion of feature point matching workload due to the increased number of UAVs. Based on the hash and principal component analysis, the matching time complexity of this algorithm can be reduced from O(log N) to O(1). To evaluate the performance, the algorithm is verified on the acknowledged multi-view stereo benchmark dataset, and excellent results are obtained. Finally, through the simulation and real flight experiments, this improved SLAM system with the proposed algorithm is validated.
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Tian-miao WANG proposed methodology. Yi-cheng ZHANG formulated the overarching research goals and aims. Chao-lei WANG executed theoretical reasoning. Yi-cheng ZHANG designed the research and software. Jian-hong LIANG administrated the project. Yi-cheng ZHANG and Chao-lei WANG processed the data. Yang CHEN implemented the investigation and validation. Yi-cheng ZHANG drafted the manuscript. Tian-miao WANG helped organize the manuscript. Yi-cheng ZHANG and Tian-miao WANG revised and finalized the paper.
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Tian-miao WANG, Yi-cheng ZHANG, Jian-hong LIANG, Yang CHEN, and Chao-lei WANG declare that they have no conflict of interest.
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Wang, Tm., Zhang, Yc., Liang, Jh. et al. Multi-UAV collaborative system with a feature fast matching algorithm. Front Inform Technol Electron Eng 21, 1695–1712 (2020). https://doi.org/10.1631/FITEE.2000047
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DOI: https://doi.org/10.1631/FITEE.2000047
Key words
- Multiple UAVs
- Collaboration
- Simultaneous localization and mapping (SLAM)
- Feature description and matching