Collaboration localization and mapping in GPS-denied environments is a challenging problem, due to the computing power and communication bandwidth constraints of onboard equipment. In this article, a voxel-based localization and mapping system is developed, which achieves real-time trajectory estimation for the multirobot system utilizing only onboard sensors, computing power, and communication module. The key idea of the voxel-based matching approach is to formulate the registration problem as a maximum a posteriori (MAP) problem and to simplify it to a nonlinear least-squares problem using Gauss approximation and principal component analysis (PCA). The voxel-based matching method significantly improves the computational efficiency and reduces the communication bandwidth of the localization and mapping system. The effectiveness of the proposed method is demonstrated through experiments in real-world environments for various scenarios.

中文翻译：

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GPS 受限环境中多机器人系统基于体素的定位和建图


由于机载设备的计算能力和通信带宽限制，GPS 拒绝环境中的协作定位和地图绘制是一个具有挑战性的问题。本文开发了一种基于体素的定位和建图系统，仅利用机载传感器、计算能力和通信模块即可实现多机器人系统的实时轨迹估计。基于体素的匹配方法的关键思想是将配准问题表述为最大后验（MAP）问题，并使用高斯近似和主成分分析（PCA）将其简化为非线性最小二乘问题。基于体素的匹配方法显着提高了计算效率并降低了定位和建图系统的通信带宽。通过在现实环境中各种场景的实验证明了所提出方法的有效性。