Cloud-edge Collaborative Submap-based VSLAM using Implicit Representation Transmission

Weinan Chen1; Zhenchao Lin2; Lei Zhu2; Shilang Chen2; Haifei Zhu1; Yisheng Guan2; Hong Zhang3

2024

10.1109/TVT.2024.3412133

IEEE Transactions on Vehicular Technology   影响因子和分区

1939-9359

Applying VSLAM to mobile robots with limited computing power is the key to achieving autonomous navigation, and the cloud-edge collaborative VSLAM is a solution. However, the VSLAM data transmission in the working site with limited communication is still an open problem. To solve this problem, two core issues should be considered: the transmission frequency and the transmission data volume. In this paper, we propose an asynchronous submap building framework to reduce the transmission frequency. Also, we design an implicit representationbased transmission method to save the transmission data volume while satisfying the data association between the edge and the cloud. Through the experiments, our method shows advanced performance in terms of communication demand with low transmission frequency and small data volume. At the same time, comparable precision to the state-of-the-art is achieved, showing the effectiveness of the data association building. Thanks to the reduced transmission frequency and data volume, our system provides a feasible way to the cloud-based VSLAM under limited communication.

EI

其他

ENGINEERING

1.State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment, Guangdong University of Technology, China
2.Biomimetic and Intelligent Robotics Lab, Guangdong University of Technology, China
3.Southern University of Science and Technology, China

Weinan Chen,Zhenchao Lin,Lei Zhu,et al. Cloud-edge Collaborative Submap-based VSLAM using Implicit Representation Transmission[J]. IEEE Transactions on Vehicular Technology,2024,PP(99).

Weinan Chen.,Zhenchao Lin.,Lei Zhu.,Shilang Chen.,Haifei Zhu.,...&Hong Zhang.(2024).Cloud-edge Collaborative Submap-based VSLAM using Implicit Representation Transmission.IEEE Transactions on Vehicular Technology,PP(99).

Weinan Chen,et al."Cloud-edge Collaborative Submap-based VSLAM using Implicit Representation Transmission".IEEE Transactions on Vehicular Technology PP.99(2024).