Ming Ouyang

2 accepted papers

2021

A Collaborative Visual SLAM Framework for Service Robots

Ming Ouyang, Xuesong Shi, Yujie Wang, Yuxin Tian, Yingzhe Shen, Dawei Wang +2

IROS 2021poster

We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map, update the map, or build new maps, all with a unified interface…

Cited by 25 Source ↗Scholar ↗

2021

Hierarchical Segment-based Optimization for SLAM

Yuxin Tian, Yujie Wang, Ming Ouyang, Xuesong Shi

IROS 2021poster

This paper presents a hierarchical segment-based optimization method for Simultaneous Localization and Mapping (SLAM) system. First we propose a reliable trajectory segmentation method that can be used to increase efficiency in the back-end optimization. Then we propose a buffer mechanism for the fi…

Cited by 4 Source ↗Scholar ↗