A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions
نویسندگان
چکیده
منابع مشابه
Map-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کاملCooperative Multi-robot Map Merging Using Fast-SLAM
Multi-robot map merging is an essential task for cooperative robot navigation. In the realistic case, the robots do not know the initial positions of the others and this adds extra challenges to the problem. Some approaches search transformation parameters using the local maps and some approaches assume the robots will observe each other and use robot to robot observations. This work extends a ...
متن کاملMulti-robot map alignment in visual SLAM
This paper focusses on the study of the Map Alignment problem in a multirobot SLAM context. Given a team of robots, we consider the situation in which each robot is building its own local map independently. These maps are landmark-based and three-dimensional. The local maps built by the different robots will have different reference systems. At some point, it may be interesting to express all m...
متن کاملMap merging for distributed robot navigation
A set of robots mapping an area can potentially combine their information to produce a distributed map more efficiently than a single robot alone. We describe a general framework for distributed map building in the presence of uncertain communication. Within this framework, we then present a technical solution to the key decision problem of determining relative location within partial maps.
متن کاملOn map merging
We illustrate our experience in developing and implementing algorithms for map merging, i.e., the problem of fusing two or more partial maps without common reference frames into one large global map. The partial maps may for example be acquired by multiple robots, or during several runs of a single robot from varying starting positions. Our work deals with low quality maps based on probabilisti...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2020
ISSN: 1424-8220
DOI: 10.3390/s20236988