R3-[Q-Shape] - Research: Updating Map & Localization
Key Features
- Alignment and merging are expressed as an iterative process
- Based on correspondence of comprehensive shape features (establishing a large context)
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