@inproceedings{7d96a3a97f564c0f949dbe5a718fb17c,
title = "A hybrid probabilistic and point set registration approach for fusion of 3D occupancy grid maps",
abstract = "One of the major challenges in multi-robot exploration is to fuse the partial maps generated by individual robots into a consistent global map. We address 3D volumetric map fusion by extending the well known iterative closest point(ICP) algorithm to include probabilistic distance and surface information. In addition, the relative transformation is evaluated based on Mahalanobis distance and map dissimilarities are integrated using relative entropy filter. The efficiency of the proposed algorithm is evaluated using maps generated from both simulated and real environments and is shown to generate more consistent global maps.",
keywords = "Map fusion, Multi robot, Occupancy iterative closet point, Octomap, Relative entropy filter",
author = "Yufeng Yue and Danwei Wang and Senarathne, {P. G.C.N.} and Diluka Moratuwage",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 ; Conference date: 09-10-2016 Through 12-10-2016",
year = "2017",
month = feb,
day = "6",
doi = "10.1109/SMC.2016.7844529",
language = "English",
series = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1975--1980",
booktitle = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings",
address = "United States",
}