多机器人激光雷达定位与建图在地下隧道中因回环检测误报频发而失效，本文提出新方法提升稳定性。
Multi-robot LiDAR SLAM: a practical case study in underground tunnel environments
- 设计去中心化激光雷达SLAM流程，针对多机协同定位优化
- 发现回环检测导致大量误报，是系统失败主因
- 适用于地下隧道等复杂封闭环境的多机器人导航研究
多机器人同步定位与地图构建旨在通过多台机器人协作实现定位与地图构建。本文分析了一个去中心化激光雷达SLAM系统的流程，揭示当前技术的局限性，发现回环检测是导致大量误报的主要原因。为此，我们提出一种新启发式方法以克服该问题。研究环境为极具挑战性的地下隧道场景，并指出若干尚待深入探索的新研究方向。
原文摘要 · Abstract (English)
Multi-robot SLAM aims at localizing and building a map with multiple robots, interacting with each other. In the work described in this article, we analyze the pipeline of a decentralized LiDAR SLAM system to study the current limitations of the state of the art, and we discover a significant source of failures, i.e., that the loop detection is the source of too many false positives. We therefore develop and propose a new heuristic to overcome these limitations. The environment taken as reference in this work is the highly challenging case of underground tunnels. We also highlight potential new research areas still under-explored.
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