Multi-Robot Mapping Based on 3D Maps Integration
An unknown environment could be mapped more efficiently by a group of robots than a single robot. The time reduction due to parallelization is crucial in complex area mapping. There are two general solutions used in the multi-robot mapping. In the first one, robots exchange raw data from sensors. Th...
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| Main Authors: | , |
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| Format: | Book Chapter |
| Language: | English |
| Published: |
IntechOpen
2022
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| Subjects: | |
| Online Access: | https://www.intechopen.com/chapters/84082 |
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| Summary: | An unknown environment could be mapped more efficiently by a group of robots than a single robot. The time reduction due to parallelization is crucial in complex area mapping. There are two general solutions used in the multi-robot mapping. In the first one, robots exchange raw data from sensors. The second approach assumes that each robot creates a local map independently that is exchanged with other robots and integrated. In this chapter, we present a 3D maps integration algorithm that utilizes overlapping regions in the feature-based alignment process. The algorithm does not need any initial guess about the transformation between local maps. However, for successful integration, maps need to have a common area. We showed that the implemented method is effective in various environments. The approach has been verified in experiments with wheeled mobile robots and using public datasets with octree-based maps. |
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| ISBN: | 978-1-83768-008-5 |
| DOI: | 10.5772/intechopen.107978 |