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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2402.08867 |
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| _version_ | 1866914678676914176 |
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| author | Asgharivaskasi, Arash Atanasov, Nikolay |
| author_facet | Asgharivaskasi, Arash Atanasov, Nikolay |
| contents | This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approach relies on gradient-based optimization of the observation log-likelihood of each robot subject to a map consensus constraint to build a common multi-class map of the environment. This formulation leads to closed-form updates which resemble Bayes rule with one-hop prior averaging. To reduce the amount of information exchanged among the robots, we utilize an octree data structure that compresses the multi-class map distribution using adaptive-resolution. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_08867 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping Asgharivaskasi, Arash Atanasov, Nikolay Robotics This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approach relies on gradient-based optimization of the observation log-likelihood of each robot subject to a map consensus constraint to build a common multi-class map of the environment. This formulation leads to closed-form updates which resemble Bayes rule with one-hop prior averaging. To reduce the amount of information exchanged among the robots, we utilize an octree data structure that compresses the multi-class map distribution using adaptive-resolution. |
| title | Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping |
| topic | Robotics |
| url | https://arxiv.org/abs/2402.08867 |