The document discusses simultaneous localization and mapping (SLAM) using multiple robots and cameras. Specifically, it aims to extend SLAM to larger environments using both point features and environment markers observed by single or multiple cameras on one or more robots. It also aims to extend the types of measurements used in SLAM, such as observations of environment markers, robots' state measured by IMU, rotations between cameras and maps, and mutual observations between robots.

1. The generalized, multi-robot
framework for an augmented
visual simultaneous localization
and mapping system
ADAM SCHMIDT,
POZNAN UNIVERSITY OF TECHNOLOGY

2. What is SLAM, or how not to get lost
while exploring?
•Ability to build the map of an unknown environment while keeping track of one’s position
•Crucial for autonomous robot operation
•Different possible sensors, cameras are the most popular
•Intensively developed, yet still far from being solved

3. First goal – extended environment
Classic approach – single camera and point
features
New approach:
•Point features and environment markers
•Robot with a camera…
•…or multiple cameras
•Multiple robots
•Static cameras and robot markers
•Local maps

4. Second goal – extended measurements
Classic approach – observations of point
features
New approach:
•Observations of environment markers
•Measurements of robots’ state (e.g. with IMU)
•Measurements of the rotations between
cameras and maps
•Observations of robot markers with static
cameras
•Mutual observations of robots