Authors:
Sergio Ayuso
1
;
Carlos Sagüés
1
and
Rosario Aragüés
2
Affiliations:
1
Universidad de Zaragoza, Spain
;
2
Clermont Universite and CNRS, France
Keyword(s):
Network Robots, RGB-D Sensing, Distributed Systems, 3D Mapping and Localization.
Related
Ontology
Subjects/Areas/Topics:
Distributed Control Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Network Robotics
;
Robotics and Automation
;
Sensors Fusion
;
Signal Processing, Sensors, Systems Modeling and Control
;
Vision, Recognition and Reconstruction
Abstract:
In this paper we present a method to make every robot of a team to compute a global 3D map of the scenarios explored by all the members, obtaining also the trajectories of the team. Every robot has a RGB-D device on board which gives RGB and depth data simultaneously and uses this information to build its own local map in real time. Once all robots have formed their local maps, they start a communication process to transform all maps to a common reference and merge them. The interest of this work is related to the establishment of the global reference and the management of the local point clouds to get correspondences between local maps
which make possible to obtain the best possible transformation from the reference of every robot to the global reference.