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Collaborative Monocular SLAM with Multiple Micro Aerial Vehicles

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Collaborative Monocular SLAM with Multiple Micro Aerial Vehicles. Christian Forster 1 , Simon Lynen 2 , Laurent Kneip 2 , Davide Scaramuzza 1 (1) Robotics and Perception Group, University of Zurich, Switzerland (2) Autonomous Systems Lab, ETH Zurich, Switzerland.

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Collaborative Monocular SLAM withMultiple Micro Aerial Vehicles

  • Christian Forster1, Simon Lynen2, Laurent Kneip2, Davide Scaramuzza1

(1) Robotics and Perception Group, University of Zurich, Switzerland(2) Autonomous Systems Lab, ETH Zurich, Switzerland

  • Each Micro Aerial Vehicle (MAV) estimates its motion individually using a monocular Visual Odometry algorithm.
  • The MAVs stream only features of selected keyframes and relative pose estimates to a ground station.
  • The ground-station creates a map for each MAV and merges them together whenever overlaps are detected.