map mergingenhanced spectrummulti-robot systemsThis paper addresses the problem of grid map merging for multi-robot systems, which can be resolved by acquiring the map transformation matrix (MTM) among robot maps. Without the initial correspondence or any rendezvous among robots, the only way to ...
The proposed technique can improve not only the accuracy of map merging, but also the flexibility of multi-robot systems. The improved performance is verified by showing higher similarities than the existing map-merging techniques in experiments....
For large-scale unknown environments,a method of topological node matching based on visual feature is presented,and a local scan matching strategy is integrated to realize map merging for multi-robot system under RTM(robot technology middleware) framework.A main-auxiliary structure model of multiple ...
When a robot detects another, send its processed map and the master robot can generates a global map very accurate. This way, time necessary to build the global map is reduced. 展开 关键词: Multi-robot SLAM scan-mathcing fast-slam rao-blackwellised particle filter ...
This paper deals with the problem of grid map merging in multi-robot SLAM (simultaneous positioning and mapping) where the initial relative pose between robots is unknown. When robots encounter each other, it is easy to obtain a map transformation between robots for grid map merging if bilateral...
Multi-robot SLAMscan-mathcingfast-slamrao-blackwellised particle filterThis paper presents a multi-robot mapping and localization system. Learning maps and efficient exploration of unknown environment is a fundamental problem in mobile robotics usually called SLAM (simultaneous localization and mapping ...
slam地图融合论文学习:Pairwise Consistent Measurement Set Maximization for Robust Multi-robot Map Merging 心若死灰何复燃 这篇文章于2018年获得ICRA最佳多机器人系统奖。 地图融合的本质是挑选出一组可靠且连续的回环轨迹。所以要想办法减少假阳性回环带来的影响,以便更好的融合地图。通常情况下,机器人在局部坐标系...
Occupancy Grid Mapslead to high CPU consumption for path planning. The situation is even worse in the context of multi-robot exploration. Indeed, to achieve coordination, robots have to share their local maps and merge ones provided by their teammates. These drawbacks ofOccupancy Grid Mapscan be...
According to the invention, under the condition that the relative positions and gestures of robots are unknown, a layered topological structure merging SIFT features is provided, the global topological map is created in an increment manner, and the map splicing of the multi-robot system under ...
Robust Mapping for Mobile Robot Based on Immobile Area Grid Map Considering Potential Moving Objects The occupancy grid map used in SLAM is a conventional method which makes a map by an occupancy probability in each grid. This method renews a map ... A Ito,K Takahashi,M Kaneko - 《Electrica...