Kazan Federal University Digital Repository

Comparative analysis of ROS-based centralized methods for conducting collaborative monocular visual SLAM using a pair of UAVs

Show simple item record

dc.contributor Казанский федеральный университет
dc.contributor.author Abbyasov Bulat Rivalevich
dc.contributor.author Lavrenov Roman Olegovich
dc.contributor.author Zakiev Aufar Azatovich
dc.contributor.author Tsoy Tatyana Grigorevna
dc.contributor.author Magid Evgeni Arkadevich
dc.contributor.author Svinin Mikhail
dc.contributor.author Martinez-Garcia Edgar A.
dc.date.accessioned 2020-08-24T11:16:53Z
dc.date.available 2020-08-24T11:16:53Z
dc.date.issued 2020
dc.identifier.citation Comparative analysis of ROS-based centralized methods for conducting collaborative monocular visual SLAM using a pair of UAVs / B. Abbyasov, R. Lavrenov, A. Zakiev [at al.] // Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020) (Moscow, Russia; 24-26 August 2020). - Moscow, 2020. - P. 113-120.
dc.identifier.uri https://dspace.kpfu.ru/xmlui/handle/net/159353
dc.description.abstract Unmanned Aerial Vehicle (UAV) is a flying robot that acts without constant human pilot involvement. UAVs are applied in military and civilian areas, in search and rescue operations, 3D mapping, simultaneous localization and mapping (SLAM) and other tasks. SLAM approaches are based on various sensors usage including lidars and cameras. Visual SLAM approaches rely on visual sensing systems and successfully operate within GPS-denied environments. Further, apply- ing several UAVs allows for complex tasks that cannot be handled by a single robot, minimizes exploration time and adds a security level for a case of a single robot failure. This paper presents a comparison of two most applicable vision-based collaborative monocular SLAM methods in Robot operating system, CORB-SLAM and CCM-SLAM, that run on a pair of UAVs. The evaluation is performed on preassembled datasets that correspond to a virtual environment in the Gazebo simulator. The error estimation in virtual experiments demonstrated that CCM-SLAM has a higher global localization accuracy than CORB-SLAM.
dc.language.iso en
dc.relation.ispartofseries ROBOTS IN HUMAN LIFE CLAWAR 2020 Proceedings
dc.rights открытый доступ
dc.subject UAV
dc.subject visual SLAM
dc.subject ROS
dc.subject Gazebo simulation
dc.subject algorithm comparison
dc.title Comparative analysis of ROS-based centralized methods for conducting collaborative monocular visual SLAM using a pair of UAVs
dc.type Article
dc.contributor.org Высшая школа информационных технологий и интеллектуальных систем
dc.description.pages 113-120
dc.pub-id 237124
dc.identifier.doi 10.13180/clawar.2020.24-26.08.12


Files in this item

This item appears in the following Collection(s)

Show simple item record

Search DSpace


Advanced Search

Browse

My Account

Statistics