منابع مشابه
Cooperative 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 کاملRelocalization, Global Optimization and Map Merging for Monocular Visual-Inertial SLAM
The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estimation. However, such locally accurate visualinertial odometry is prone to drift and cannot provide absolute pose estimation. Leveraging history information to relocalize and correct drift has become a hot topic. In th...
متن کاملA Fast Map Merging Algorithm in the Field of Multirobot SLAM
In recent years, the research on single-robot simultaneous localization and mapping (SLAM) has made a great success. However, multirobot SLAM faces many challenging problems, including unknown robot poses, unshared map, and unstable communication. In this paper, a map merging algorithm based on virtual robot motion is proposed for multi-robot SLAM. The thinning algorithm is used to construct th...
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...
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ژورنال
عنوان ژورنال: Journal of Physical Agents (JoPha)
سال: 2009
ISSN: 1888-0258
DOI: 10.14198/jopha.2009.3.1.03