摘要
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.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings |
| 出版商 | Institute of Electrical and Electronics Engineers Inc. |
| 页 | 1975-1980 |
| 页数 | 6 |
| ISBN（电子版） | 9781509018970 |
| DOI | |
| 出版状态 | 已出版 - 6 2月 2017 |
| 已对外发布 | 是 |
| 活动 | 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, 匈牙利 期限: 9 10月 2016 → 12 10月 2016 |
出版系列
| 姓名 | 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings |
|---|
会议
| 会议 | 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 |
|---|---|
| 国家/地区 | 匈牙利 |
| 市 | Budapest |
| 时期 | 9/10/16 → 12/10/16 |
指纹
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Yue, Y., Wang, D., Senarathne, P. G. C. N., & Moratuwage, D. (2017). A hybrid probabilistic and point set registration approach for fusion of 3D occupancy grid maps. 在 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (页码 1975-1980). 文章 7844529 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2016.7844529