Multi-robot SLAM using iSAM

• iSAM anchor node-based multiple robot (pose graph) SLAM tutorial codes with docs.

• Just run

$ ./do_build.sh 

About the tutorial

• Please refer the details here: Tutorial visual expalnations (PDF).
• Details are implemented in robot2d.h and robot2d.cpp

Advantages of anchor node-based multi-robot SLAM

• This submap-like technique reduces time for convergence
• Each robot could be added at arbitrary time
• Each robot can operate on its own frame
• No gauge freedom problem (i.e., each robot has its own prior / if not, graph convergence is not stable)
• Directly can be extend to the multi-session (or long-term) SLAM

Further reading material

• (KOR) More detailed in-depth paper seminar material

Some example sheets from the docs

contact

• [email protected]