PROJECT TITLE :

Cloud-Based Collaborative 3D Mapping in Real-Time With Low-Cost Robots

ABSTRACT:

This paper presents an design, protocol, and parallel algorithms for collaborative 3D mapping within the cloud with low-cost robots. The robots run a dense visual odometry algorithm on a smartphone-class processor. Key-frames from the visual odometry are sent to the cloud for parallel optimization and merging with maps made by different robots. When optimization the cloud pushes the updated poses of the local key-frames back to the robots. All processes are managed by Rapyuta, a cloud robotics framework that runs during a industrial knowledge center. This paper includes qualitative visualization of collaboratively built maps, with quantitative analysis of localization accuracy, bandwidth usage, processing speeds, and map storage.