@inproceedings{2ce4cbc674e44f9bbfa1ddb7d86b258d,
title = "Swarm robot SLAM with point-line matching in weak information environments",
abstract = "Simultaneous Localization and Mapping (SLAM) in weak information environment scenarios where there are only sparse and ambiguous references are available presents significant challenges. This paper introduces a swarm robots based point-line matching based solution to enhance the accuracy and robustness of localization and mapping within such environments. Our approach employs a centralized serverbased architecture for the swarm robot system and utilizes an ORB-based Distributed Bag-of-Words (DBoW) algorithm to construct point and line feature dictionaries. By generating point-line pairs, the proposed method effectively addresses perceptual overlap issues, thereby improving the overall performance of localization and mapping for swarm robots. Experimental results validate the superiority of the proposed approach in comparison to traditional methods, highlighting its potential for real-world applications in challenging environments for swarm robot SLAM.",
keywords = "Point-Line Matching, SLAM, Swarm Robot, Weak Information Environment",
author = "Jikai Guo and Dayou Li and Renxi Qiu",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO) ; Conference date: 31-07-2023 Through 04-08-2023",
year = "2023",
month = nov,
day = "7",
doi = "10.1109/3m-nano58613.2023.10305305",
language = "English",
isbn = "9798350344486",
series = "2023 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2023 - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "85--90",
editor = "Zuobin Wang and Dongxu Wang",
booktitle = "2023 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2023 - Proceedings",
address = "United States",
}