Real-Time Cloud Visual Simultaneous Localization and Mapping for Indoor Service Robots

摘要

Unlike traditional industrial robots, indoor service robots are usually required to possess high intelligence, such as the skills of flexible moving, precise spacial perceiving. And high intelligence is always accompanied by consuming complicated and expensive computation resources. One solution for indoor service robots is centralization of expensive computation resource so that it is possible to design a low cost client with a high-intelligence brain. However, as a fundamental intelligence function for mobile indoor robots, if a real-time visual Simultaneously Localization and Mapping (vSLAM) system is split into client and brain, it will be confronted with new challenges, such as the barrier of instant data sharing and performance degradation brought by network delay inbetween. To solve the problem, we focus on a framework and approach of cloud-based visual SLAM in this paper, and provide an efficient solution to offload the expensive computation and reduce the cost of robot clients. The integrated system is distributed in a 3-level Cloud with light-weight tracking, high precision dense mapping, and map sharing. Based on recent excellent algorithms, our system is able to run a real-time sparse tracking on the client, and a real-time dense mapping on the cloud server, which outputs an explicit 3D dense map. Only keyframes are sent to the local cloud center to reduce the network bandwidth requirement. Dense geometric pose estimation besides feature-based methods is computed to make the system resistant to feature-less indoor scenes. The camera poses associated with keyframes are optimized on the local computing cloud center, and are sent back to the client to decrease the trajectory drift. We evaluate the system on the Technical University of Munich (TUM) datasets, Imperial College London and National University of Ireland Maynooth (ICL-NUIM) datasets, and the real data captured by our robot in terms of visual odometry on the client side and dense maps generated on the server cloud. Qualitative and quantitative experiments show our cloud visual SLAM system is able to bear the network delay in Local Area Network (LAN), and it is an efficient vSLAM solution for indoor service robots with high intelligence from a centric brain.