Decentralized SLAM for pedestrians without direct communication

Abstract— We consider the problem of Decentralized Simultaneous Localization And Mapping (DSLAM) for pedestrians in the context of Urban Search And Rescue (USAR). In this context, DSLAM is a challenging task. First, data exchange fails due to cut off communication links. Second, loop-closure is cumbersome due to the fact that fireman will intentionally try to avoid performing loops, when facing the reality of emergency response, e.g. while they are searching for victims. In this paper, we introduce a solution to this problem based on the non-selfish sharing of information between pedestrians for loop-closure. We introduce a novel DSLAM method which is based on data exchange and association via RFID technology, not requiring any radio communication. The approach has been evaluated within both outdoor and semiindoor environments. The presented results show that sharing information between single pedestrians allows to optimize globally their individual paths, even if they are not abl...

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Alexander Kleiner, Dali Sun
• Keywords: Data Exchange, IROS 2007, Robotics, Simultaneous Localization And Mapping, Urban Search And Rescue