Selection strategy for exchanging map information in collaborative multi-user SLAM systems

摘要

Disclosed is a method and apparatus for selecting a part of SLAM map information of a first device for transmission to a second device in a collaborative SLAM environment. In one embodiment, the functions implemented include: determining whether a 3D registration transformation between a map of the first device and a map of the second device is available; and transmitting a part of map information of the first device to the second device according to one of a first strategy or a second strategy based on whether or not a 3D registration transformation between the map of the first device and the map of the second device is available.

主权项

1. A method for selecting a part of simultaneous localization and mapping (SLAM) map information of a first device for transmission to a second device in a collaborative SLAM environment, comprising:
determining whether a 3D registration transformation between a map of the first device and a map of the second device is available; in response to determining that a 3D registration transformation between the map of the first device and the map of the second device is not available, applying a first strategy for selecting a part of map information to be transmitted to the second device, wherein the first strategy prioritizes a newest incoming keyframe for transmission to the second device; and in response to determining that a 3D registration transformation between the map of the first device and the map of the second device is available, applying a second strategy for selecting a part of map information to be transmitted to the second device, the second strategy being different from the first strategy, wherein the second strategy prioritizes parts of the map information of the first device that correspond to scenes closest to current, previous, or predicted future poses of the second device for transmission to the second device.