Orbiting a Moving Target with Multi-Robot Collaborative Visual SLAM
نویسندگان
چکیده
Towards autonomous 3D modelling of moving targets, we present a system where multiple ground-based robots cooperate to localize, follow and scan from all sides a moving target. Each robot has a single camera as its only sensor, and they perform collaborative visual SLAM (CoSLAM). We present a simple robot controller that maintains the visual constraints of CoSLAM while orbiting a moving target so as to observe it from all sides. Real-world experiments demonstrate that multiple ground robots can successfully track and scan a moving target.
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تاریخ انتشار 2015