测绘科学技术学报2025，Vol.41Issue(1)：57-67,11.DOI:10.3969/j.issn.1673-6338.2025.01.009
多机器人协同视觉SLAM技术研究综述
Review of Research on Multi-robot Collaborative Visual SLAM
摘要
Abstract
As the tasks of autonomous environmental perception,localization and navigation for mobile robots pro-gressively evolve towards higher complexity and larger scales,the limitations of single-robot visual SLAM in terms of accuracy,efficiency,and reliability have become increasingly evident.Multi-robot collaborative visual SLAM technology,as a solution,has emerged as a research hotspot in the field of SLAM.First,by combining the essen-tial advantages of multi-robot SLAM,the development trend of single-robot visual SLAM to multi-robot collabora-tive visual SLAM technology is analyzed from the perspective of the evolution of visual SLAM and the shift in its re-search focus.Next,focusing on three key issues in the development of multi-robot collaborative visual SLAM tech-nology,discussions are conducted on three aspects,that include the system architecture of multi-robot collabora-tive visual SLAM,the relative poses estimating methods of multi-robot collaborative visual SLAM and the collabo-rative planning and mapping in multi-robot visual SLAM systems.The corresponding solutions and their pros and cons are analyzed and summarized.Finally,an outlook on the future research interests of multi-robot collaborative visual SLAM is provided.关键词
多机器人系统/视觉SLAM/协同SLAM/相对位姿估计/路径规划Key words
multi-robot system/visual SLAM/collaborative SLAM/relative pose estimation/path planning分类
天文与地球科学引用本文复制引用
杨子迪,李建胜,王安成,李雪强,罗豪龙,郭雨岩..多机器人协同视觉SLAM技术研究综述[J].测绘科学技术学报,2025,41(1):57-67,11.基金项目
地理信息工程国家重点实验室基金资助项目(SKLGIE2023-M-2-2) （SKLGIE2023-M-2-2）
国家自然科学基金重点项目(42330113). （42330113）
