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DS-PTAM: Distributed Stereo Parallel Tracking and Mapping SLAM System

De Croce, Mauro et al · Springer · 2019

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Author / responsible party
De Croce, Mauro et al
Publisher
Springer
Year
2019
ISSN
0921-0296
ISSN
0921-0296
Language
English

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Summary

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This paper presents DS-PTAM, a distributed architecture for the S-PTAM stereo SLAM system. This architecture is developed on the ROS framework, separating the localization and mapping tasks into two independent ROS nodes. The DS-PTAM system is ideal for mobile robots with low computing power because it allows to run the localization module on-board and the mapping module —which has a higher computational cost— on a remote base station, relieving the load on the on-board processor. The proposed architecture was implemented based on the original S-PTAM monolithic code and then validated through different experiments on public datasets. The results obtained show the feasibility of the proposed distributed architecture, its correct implementation and the benefits of distributing the computational load on several computers. Fil: De Croce, Mauro. Universidad Nacional de Rosario. Facultad de Ciencias Exactas, Ingeniería y Agrimensura; Argentina Fil: Pire, Taihú Aguará Nahuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas. Universidad Nacional de Rosario. Centro Internacional Franco Argentino de Ciencias de la Información y de Sistemas; Argentina

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APA 7

De Croce, M. E. A. (2019). DS-PTAM: Distributed Stereo Parallel Tracking and Mapping SLAM System. http://hdl.handle.net/11336/88900

MLA

De Croce, Mauro et al. "DS-PTAM: Distributed Stereo Parallel Tracking and Mapping SLAM System." 2019. http://hdl.handle.net/11336/88900.

Chicago

De Croce, Mauro et al. 2019. "DS-PTAM: Distributed Stereo Parallel Tracking and Mapping SLAM System.". http://hdl.handle.net/11336/88900.

Harvard

De Croce, M. E. A. 2019, DS-PTAM: Distributed Stereo Parallel Tracking and Mapping SLAM System, Springer, available at: http://hdl.handle.net/11336/88900 [Accessed 7 Aug. 2026].

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Resource details

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Title
DS-PTAM: Distributed Stereo Parallel Tracking and Mapping SLAM System
Author / contributors
De Croce, Mauro et al
Publisher
Springer
Publication year
2019
ISSN
0921-0296
ISSN
0921-0296
Language
English

Subjects

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DISTRIBUTED SYSTEM; STEREO VISION; VISUAL SLAM; https://purl.org/becyt/ford/2.2; https://purl.org/becyt/ford/2
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