The broad aim of this project is to implement and test visual SLAM (Simultaneous Localization and Mapping) outdoors and in a multi-agent domain. The first goal is to compare the performance of VSLAM outdoors and indoors (for which the software was originally designed). Once a baseline set of experiments are completed, then we will investigate the possibility of improving localization and mapping when multiple agents are involved and landmarks are shared. The software being used is Evolution's ERSP 3.0, of which VSLAM is a part.

Specifically, we are interested in

1. Comparing VSLAM performance indoors and outdoors
2. Designing and evaluating modifications to VSLAM to make it more suited for outdoors
3. Investigating the communication of landmarks among agents to improve localization and mapping, both in terms of speed and accuracy.

• Dr. Ronald C. Arkin
• Zsolt Kira
• Alan Wagner

• Report analyzing outdoor VSLAM.

• Integrating VSLAM into MissionLab.
• Using ERSP VSLAM software.

• Demonstration of VSLAM at Fort Benning MOUT site: [ 1 | 2 ]
  This movie shows a demonstration of the VSLAM software at the Fort Benning MOUT site. In the first phase, the robot is teleoperated and automatically builds up a small database of landmarks within the loop. In the autonomous phase, the robot is given a sequence of landmarks to visit and the robot does so successfully.
• Multi-agent demonstration: Pioneer acquiring landmarks (telop), Scorpion using these same landmarks.
  This movie demonstrates some preliminary work involving two heterogeneous robots sharing landmarks. In the first movie, the Pioneer robot is teleoperated and gathers landmarks. The robot makes two types of sounds to designate different landmarks events: One for the creation of a new landmark, and one for the detection of a previously created landmark. These sounds are designated as "X" and "O" in the video. In the second video, the Scorpion robot (which differs from the Pioneer in terms of movement, camera location, etc.) uses the database created by the Pioneer. It is not allowed to create new landmarks. The video demonstrates that the scorpion is, indeed, able to detect and use the landmarks created by a different robot.

• The Mobile Robot Laboratory Swiki - You can find relevant up-to-date documents, web links, and other resources here.