Resource-Aware Large-Scale Cooperative Three-Dimensional Mapping Using Multiple Mobile Devices

Chao X. Guo, Kourosh Sartipi, Ryan C. Dutoit, Georgios A. Georgiou, Ruipeng Li, John Oleary, Esha D. Nerurkar, Joel A. Hesch, Stergios Roumeliotis

Research output: Contribution to journalArticle

Abstract

In this paper, we address the problem of cooperative mapping (CM) using datasets collected by multiple users at different times, when the transformation between the users' starting poses is unknown. Specifically, we formulate CM as a constrained optimization problem, in which each user's independently estimated trajectory and map are merged together by imposing geometric constraints between commonly observed point and line features. Additionally, we provide an algorithm for efficiently solving the CM problem, by taking advantage of its structure. The proposed solution is proven to be batch-least-squares (BLS) optimal over all users' datasets, while it is less memory demanding and lends itself to parallel implementations. In particular, our solution is shown to be faster than the standard BLS solution, when the overlap between the users' data is small. Furthermore, our algorithm is resource-aware as it is able to consistently trade accuracy for lower processing cost, by retaining only an informative subset of the common-feature constraints. Experimental results based on visual and inertial measurements collected from multiple users within large buildings are used to assess the performance of the proposed CM algorithm.

Original languageEnglish (US)
Article number8430569
Pages (from-to)1349-1369
Number of pages21
JournalIEEE Transactions on Robotics
Volume34
Issue number5
DOIs
StatePublished - Oct 1 2018

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Mobile devices
Constrained optimization
Trajectories
Data storage equipment
Processing
Costs

Keywords

  • Cooperative mapping (CM)
  • constrained optimization problem
  • resource-aware system
  • three-dimensional (3-D) mapping
  • visual and inertial sensor fusion

Cite this

Resource-Aware Large-Scale Cooperative Three-Dimensional Mapping Using Multiple Mobile Devices. / Guo, Chao X.; Sartipi, Kourosh; Dutoit, Ryan C.; Georgiou, Georgios A.; Li, Ruipeng; Oleary, John; Nerurkar, Esha D.; Hesch, Joel A.; Roumeliotis, Stergios.

In: IEEE Transactions on Robotics, Vol. 34, No. 5, 8430569, 01.10.2018, p. 1349-1369.

Research output: Contribution to journalArticle

Guo, CX, Sartipi, K, Dutoit, RC, Georgiou, GA, Li, R, Oleary, J, Nerurkar, ED, Hesch, JA & Roumeliotis, S 2018, 'Resource-Aware Large-Scale Cooperative Three-Dimensional Mapping Using Multiple Mobile Devices' IEEE Transactions on Robotics, vol. 34, no. 5, 8430569, pp. 1349-1369. https://doi.org/10.1109/TRO.2018.2858229
Guo, Chao X. ; Sartipi, Kourosh ; Dutoit, Ryan C. ; Georgiou, Georgios A. ; Li, Ruipeng ; Oleary, John ; Nerurkar, Esha D. ; Hesch, Joel A. ; Roumeliotis, Stergios. / Resource-Aware Large-Scale Cooperative Three-Dimensional Mapping Using Multiple Mobile Devices. In: IEEE Transactions on Robotics. 2018 ; Vol. 34, No. 5. pp. 1349-1369.
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