Abstract
Cloud computing allows robots to offload computation and share information as well as skills. Visual SLAM is one of the intensively computational tasks for mobile robots. It can benefit from the cloud. In this paper, we propose a novel cloud robotics platform named RSE-PF for distributed visual SLAM with close attention to the infrastructure of the cloud. We implement it with Amazon Web Services and OpenResty. We demonstrate the feasibility, robustness, and elasticity of the proposed platform with a use case of perspective-n-point solution. In this use case, the average round-trip delay is 153 ms, which meets the near real-time requirement of mobile robots.
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CITATION STYLE
Yun, P., Jiao, J., & Liu, M. (2017). Towards a cloud robotics platform for distributed visual SLAM. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 10528 LNCS, pp. 3–15). Springer Verlag. https://doi.org/10.1007/978-3-319-68345-4_1
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