Incremental Multi-Robot Mapping
| Type of publication: | Inproceedings |
| Citation: | cosyLateckietalIROS05 |
| Booktitle: | Proceedings of IROS-2005 |
| Year: | 2005 |
| Abstract: | The purpose of this paper is to present a technique to create a global map of robots' surroundings by converting the raw data acquired from a scanning sensor to a compact map composed of just a few generalized polylines (polygonal curves). We propose a n ew approach to merging robots' maps that is composed of a local geometric process of merging similar line segments (termed Discrete Segm ent Evolution) with a global statistical control process. In the case of single robot, we are able to incrementally build a map showing the environment the robot has traveled through by merging i ts polygonal map with actual scans. In the case of a robot team, we are able to identify common parts of their partial maps and if common parts are present construct a joint map of the explored environment. |
| Userfields: | project={R3-QShape}, status={Reviewed}, |
| Keywords: | shape mapping SLAM |
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