Data-Efficient Decentralized Visual SLAM

Titus Cieslewski, Siddharth Choudhary, Davide Scaramuzza

Abstract: Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning is not available. Being visual, it relies on cheap, lightweight and versatile cameras, and, being decentralized, it does not rely on communication to a central entity. In this work, we integrate state-of-the-art decentralized SLAM components into a new, complete decentralized visual SLAM system. To allow for data association and optimization, existing decentralized visual SLAM systems exchange the full map data among all robots, incurring large data transfers at a complexity that scales quadratically with the robot count. In contrast, our method performs efficient data association in two stages: first, a compact full-image descriptor is deterministically sent to only one robot. Then, only if the first stage succeeded, the data required for relative pose estimation is sent, again to only one robot. Thus, data association scales linearly with the robot count and uses highly compact place representations. For optimization, a state-of-the-art decentralized pose-graph optimization method is used. It exchanges a minimum amount of data which is linear with trajectory overlap. We characterize the resulting system and identify bottlenecks in its components. The system is evaluated on publicly available datasets and we provide open access to the code. Supplementary Material Data and code are at: https://github.com/uzh-rpg/dslam_open.