多机器人协同视觉SLAM技术研究综述  

Review of Research on Multi-robot Collaborative Visual SLAM

作　　者：杨子迪 李建胜[1] 王安成[1] 李雪强 罗豪龙 郭雨岩 YANG Zidi;LI Jiansheng;WANG Ancheng;LI Xueqiang;LUO Haolong;GUO Yuyan(Information Engineering University,Zhengzhou 450001,China;State Key Laboratory of Geo-Information Engineering,Xi'an 710054,China;61618 Troops,Beijing 100080,China)

机构地区：[1]信息工程大学,河南郑州450001 [2]地理信息工程国家重点实验室,陕西西安710054 [3]61618部队,北京100080

出　　处：《测绘科学技术学报》2025年第1期57-67,共11页Journal of Geomatics Science and Technology

基　　金：地理信息工程国家重点实验室基金资助项目(SKLGIE2023-M-2-2);国家自然科学基金重点项目(42330113)。

摘　　要：随着移动机器人自主环境感知和定位导航任务逐渐向高复杂度、大尺度的方向发展,单机器人视觉SLAM在精度、效率和可靠性等方面的局限性逐渐凸显,多机器人协同视觉SLAM技术作为解决方案成为了SLAM领域的研究热点。首先,结合多机器人SLAM的本质优势,从视觉SLAM的发展和其研究重心的变化分析了单机器人视觉SLAM向多机器人协同视觉SLAM的发展趋势。其次,围绕多机器人协同视觉SLAM技术发展的3个关键问题,分别就多机器人协同视觉SLAM系统架构、多机器人协同视觉SLAM相对位姿估计方法以及多机器人视觉SLAM系统的协同规划与建图3个方面展开讨论,对相应的解决方法和其优缺点进行了分析和总结。最后,对多机器人协同视觉SLAM技术的未来研究方向做出了展望。As the tasks of autonomous environmental perception,localization and navigation for mobile robots progressively evolve towards higher complexity and larger scales,the limitations of single-robot visual SLAM in terms of accuracy,efficiency,and reliability have become increasingly evident.Multi-robot collaborative visual SLAM technology,as a solution,has emerged as a research hotspot in the field of SLAM.First,by combining the essential advantages of multi-robot SLAM,the development trend of single-robot visual SLAM to multi-robot collaborative visual SLAM technology is analyzed from the perspective of the evolution of visual SLAM and the shift in its research focus.Next,focusing on three key issues in the development of multi-robot collaborative visual SLAM technology,discussions are conducted on three aspects,that include the system architecture of multi-robot collaborative visual SLAM,the relative poses estimating methods of multi-robot collaborative visual SLAM and the collaborative planning and mapping in multi-robot visual SLAM systems.The corresponding solutions and their pros and cons are analyzed and summarized.Finally,an outlook on the future research interests of multi-robot collaborative visual SLAM is provided.

关 键 词：多机器人系统 视觉SLAM 协同SLAM 相对位姿估计 路径规划 

分 类 号：P231.5[天文地球—摄影测量与遥感] TP242[天文地球—测绘科学与技术]