C. 将一致性关系的值存入矩阵 Q 中; D. 将 Q 中小于阈值 γ 的值所对应的边加入到一致性图中; E. 求解最大团问题。 该论文的开源代码参考:robust_multirobot_map_merging 应用了PCM的多机器人SLAM系统参考:robust_distributed_mapper 编辑于 2025-03-30 22:35・广东 ...
Kimera-RPGO: Kimera是个语义网格视觉slam, 这是它对应的后端优化库。他们研究所的最新论文Kimera-Multi也应用了PCM机制,但是尚未开源。 还有一些项目也加入了PCM:Collaborative Robot Mapping using Spectral Graph Analysis,Door-slam
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 ...
multi-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 acquire the MTM is to ...
multirobot systemssinogram-based PSOsinogram-based particle swarm optimisationMulti-robot map merging without inter-robot observations, common landmarks, and the knowledge of initial relative poses is a challenging problem due to lack of features or local maxima. This Letter proposes a multi-hypothesis...
(2011). Improved feature map merging using virtual supporting lines for multi-robot systems. Advanced Robotics , 25 (13–14), 1675–1696.H.-C. Lee and B.-H. Lee. Improved feature map merging using virtual supporting lines for multi-robot systems. Advanced Robotics, 25(13-14):1675-1696,...
Cognitive map merging for multi-robot navigation, Workshop on Multi-Agent Robotic Systems .da Silva, A.A., Colombini, E.L., and Ribeiro, C.H.C. (2005). Cognitive map merging for multi-robot naviga- tion. In Procs. of the 1st Int. Workshop on Multi-Agent Robotics Systems (MARS ...
Carpin, S., “Fast and Accurate Map Merging for Multi-Robot Systems,” Autonomous Robots, Vol. 25, No. 3, pp. 305–316, 2008.Carpin, S.: Fast and accurate map merging for multi-robot systems. Autonomous Robots 25, 305–316 (2008)...
Multi-robot systemsthis paper, we consider the problem of occupancy grid map merging which is an important issue especially for multi-robot exploration task in search and rescue environments. We present scale invariant feature transform based methodology for combining individual partial map of robot ...
Map-merging technique is a well-studied and challenging domain in the field of autonomous mobile robotics. It is not always possible to create a map only using a single robot. Thus, the most common practice is to collect maps of individual robots of the region it has been able to reveal,...