Selection and Compression of Local Binary Features for Remote Visual SLAM
Dominik Van Opdenbosch, Martin Oelsch, Adrian Garcea, Tamay Aykut, Eckehard Steinbach
IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, Mai 2018.
In the field of autonomous robotics, Simultaneous Localization and Mapping (SLAM) is still a challenging problem. With cheap visual sensors attracting more and more attention, various solutions to the SLAM problem using visual cues have been proposed. However, current visual SLAM systems are still computationally demanding, especially on embedded devices. In addition, collaborative SLAM approaches emerge using visual information acquired from multiple robots simultaneously to build a joint map. In order to address both challenges, we present an approach for remote visual SLAM where local binary features are extracted at the robot, compressed and sent over a network to a centralized powerful processing node running the visual SLAM algorithm. To this end, we propose a new feature coding scheme including a feature selection stage which ensures that only relevant information is transmitted. We demonstrate the effectiveness of our approach on well-known datasets. With the proposed approach, it is possible to build an accurate map while limiting the data rate to 75 kbits/frame.