In this paper, multiple moving cameras, which are employed to build the maps individually, are integrated to construct a complete map of the whole large environment. Since multiple cameras may capture the same scenes during performing its own SLAM, the keyframes similarity of each cameras could be evaluated to construct the relation between the map of each camera. The proposed cooperative SLAM algorithm can efficiently build the complete map and reduce the computational time. Through the experiments and analyses on several environments with different size, the amount of feature points, and the size of overlapping area between cameras, the proposed cooperative SLAM with multiple moving cameras can efficiently obtain the information of moving cameras and the environments.
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