Robot Map Similarity Evaluation for Non-Identical Maps

Proceedings of the 12th International Scientific Conference on Engineering for Rural Development 2013
Ilze Andersone, Aleksis Liekna

When several robots explore the same environment, it is at some point necessary to merge their local maps into a global map to exploit the full potential of the robot team. Efficient multi-robot task coordination is virtually impossible without a common interpretation of the environment. If there is no information available about the relative positioning of the robots or if this information is uncertain, the evaluation of the map merging result is a vital step in the creation of a global map. The proposed map similarity evaluation offers a way to successfully evaluate the similarity of occupancy grid maps that are not locally identical.

Keywords
Map merging, map similarity, robot mapping
Hyperlink
http://tf.llu.lv/conference/proceedings2013/Papers/084_Andersone_I.pdf

Andersone, I., Liekna, A. Robot Map Similarity Evaluation for Non-Identical Maps. In: Proceedings of the 12th International Scientific Conference on Engineering for Rural Development, Latvia, Jelgava, 23-24 May, 2013. Jelgava: Latvia University of Agriculture, 2013, pp.456-461. ISSN 1691-3043.

Publication language
English (en)