KFU. Card publication. Comparative analysis of ros-based centralized methods for conducting collaborative monocular visual slam using a pair of uavs

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COMPARATIVE ANALYSIS OF ROS-BASED CENTRALIZED METHODS FOR CONDUCTING COLLABORATIVE MONOCULAR VISUAL SLAM USING A PAIR OF UAVS

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2020

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Authors, employees of KFU

Abbyasov Bulat Rivalevich, author

Zakiev Aufar Azatovich, author

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Coy Tatyana Grigorevna, author

Bibliographic description in the original language

Abbyasov B., Lavrenov R., Zakiev A., Tsoy T., Magid E., Svinin M., Martinez-Garcia E.A. Comparative analysis of ROS-based centralized methods for conducting collaborative monocular visual SLAM using a pair of UAVs // Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020) (Moscow, Russia; 24-26 August 2020) - p. 113-120.

Annotation

Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020)

Keywords

UAV, visual SLAM, ROS, Gazebo simulation, algorithm comparison

The name of the journal

Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020)

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85091319478&doi=10.13180%2fclawar.2020.24-26.08.12&partnerID=40&md5=01beb6c438e64b8477857bfd3ade5080

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=240256&p_lang=2

Resource files

File name	Size (MB)	Format
F_CLAWAR2020_Abbyasov_from_proceedings.pdf	0,47	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Abbyasov Bulat Rivalevich	ru_RU
dc.contributor.author	Zakiev Aufar Azatovich	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Coy Tatyana Grigorevna	ru_RU
dc.date.accessioned	2020-01-01T00:00:00Z	ru_RU
dc.date.available	2020-01-01T00:00:00Z	ru_RU
dc.date.issued	2020	ru_RU
dc.identifier.citation	Abbyasov B., Lavrenov R., Zakiev A., Tsoy T., Magid E., Svinin M., Martinez-Garcia E.A. Comparative analysis of ROS-based centralized methods for conducting collaborative monocular visual SLAM using a pair of UAVs // Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020) (Moscow, Russia; 24-26 August 2020) - p. 113-120.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=240256&p_lang=2	ru_RU
dc.description.abstract	Proceedings of the 23rd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2020)	ru_RU
dc.description.abstract	Unmanned Aerial Vehicle (UAV) is a flying robot that acts without a constant human pilot involvement. UAVs are applied in military and civilian areas, in search and rescue operations, 3D mapping, simultaneous localization and mapping (SLAM) and other tasks. SLAM approaches are based on various sensors usage including lidars and cameras. Visual SLAM approaches rely on visual sensing systems and successfully operate within GPS-denied environments. Further, applying several UAVs allows for complex tasks that cannot be handled by a single robot, minimizes exploration time and adds a security level for a case of a single robot failure. This paper presents a comparison of two most applicable vision-based collaborative monocular SLAM methods in Robot operating system, CORB-SLAM and CCM-SLAM, that run on a pair of UAVs. The evaluation is performed on preassembled datasets that correspond to a virtual environment in the Gazebo simulator. The error estimation in virtual experiments demonstrated that CCM-SLAM has a higher global localization accuracy than CORB-SLAM.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	UAV	ru_RU
dc.subject	visual SLAM	ru_RU
dc.subject	ROS	ru_RU
dc.subject	Gazebo simulation	ru_RU
dc.subject	algorithm comparison	ru_RU
dc.title	Comparative analysis of ros-based centralized methods for conducting collaborative monocular visual slam using a pair of uavs	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU