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MaverickPeter / MR_SLAM

[IEEE T-RO 2023] A modularized multi-robot SLAM system with elevation mapping and a costmap converter for easy navigation. Different odometry and loop closure algorithms can be easily integrated into the system.
MIT License
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Using grid map as the transmission protocol between multiple robot to run MR_SLAM？ #16

Closed Joosoo1 closed 9 months ago

Joosoo1 commented 9 months ago

Hello, here I am again, recently I'm working on multi-robot grid map stitching, and I'm planning to utilize MRSLAM for this work, I'm utilizing 2.5d grid maps as a transfer medium between robots, first I remap the 2.5d grid maps to point cloud maps in the backend, and then I input the point clouds into LoopDetection and Mmapping, MR SLAM can work well (good news). I have an idea about this, can we use the grid map to construct the pose graph, use the point cloud after the grid map conversion for LoopDetection, after that use the loopback constraints for grid map pose graph optimization, and use the optimized pose graph for grid sub-map splicing, I think this can reduce a lot of computation, do you think this is feasible?

MaverickPeter commented 9 months ago

@Joosoo1 Do you mean that we send the point cloud from 2.5d grid maps between robots rather than the keyframe point cloud? The key factor here is the performance of the loop detection module using the grid map. If the performance is fully evaluated and satisfied, then the transmission data and computation will be largely reduced, just as you said.

Joosoo1 commented 9 months ago

Ok, I see, thanks for the reply, I will keep researching in send 2.5d grid maps between robots