IEEE IROS2013 Digest Template

1
Collaborative Monocular SLAM withMultiple Micro
Aerial Vehicles

• Christian Forster1, Simon Lynen2, Laurent Kneip2,
  Davide Scaramuzza1
• (1) Robotics and Perception Group, University of
  Zurich, Switzerland(2) Autonomous Systems Lab,
  ETH Zurich, Switzerland

• Each Micro Aerial Vehicle (MAV) estimates its
  motion individually using a monocular Visual
  Odometry algorithm.
• The MAVs stream only features of selected
  keyframes and relative pose estimates to a ground
  station.
• The ground-station creates a map for each MAV and
  merges them together whenever overlaps are
  detected.