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Updating the Map & Localizing within
Shape Representation
Updating the Map & Localizing Within
Key Features:
- Based on correspondence of comprehensive shape features (establishing a large context)
- Alignment and merging are expressed as an iterative process
Principle of Operation:
The iterative process consists of three steps operating on individual corresponding shape features (polylines).
It starts with an initial alignment of the corresponding polylines.
- Decomposition into an overlapping part, 'head' and 'tail'
- Alignment minimizing the differing area of two corresponding polylines.
All scan's polylines are moved simoultanously to obtain the best overall displacement dX, dY, dR.
- Weigthed modification of the overlapping part to harmonize polylines with each other
Results:
 | See the resulting map from 450 scans |
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- Project R3-[Q-Shape]
