Abstract
To improve the efficiency and accuracy of the indoor multi-robot cooperative mapping, the extraction method of overlapping regions between each local map based on the geometric features is proposed. First, the geometric features of local maps are extracted and fitted to represent the semantic information of the indoor building structure. Second, the attribute similarity evaluation, the topology similarity evaluation, and the ICP evaluation are used to extract the most similar frame pair between each local map. Third, the local map is merged by overlapping area registration to construct a global map. The proposed method is verified in three different real-world scenarios, the experimental result shows that the efficiency and accuracy of the cooperative mapping method are improved compared with the single-robot mapping method and the existing cooperative mapping method.
Highlights
With the rapid development of LIDAR technology, the simultaneous localization and mapping (SLAM) [1] is widely used in the fields of unmanned driving [2] and environmental surveying [3], [4]
Aiming at improving the accuracy and efficiency of indoor LIDAR mapping, this paper proposes a multi-robot cooperative mapping method based on geometric features
The local map is constructed by LEGO-LIDAR odometry and mapping (LOAM) in advance
Summary
With the rapid development of LIDAR technology, the simultaneous localization and mapping (SLAM) [1] is widely used in the fields of unmanned driving [2] and environmental surveying [3], [4]. Z. Zhu et al.: Indoor Multi-Robot Cooperative Mapping Based on Geometric Features the scene, local maps are merged to build a globally consistent map. This paper proposes a 3D cooperative mapping method for indoor scenarios, which is based on the geometric features of building structures. References [33] proposed a matching algorithm for the outdoor mapping, in which the GPS location is used as the rendezvous indication and the further extraction of common areas are performed based on the LIDAR. With a three-step matching of ground points, min-z points, and all points in the key frame, the detection on overlapping area and registration of local maps can be realized This method only uses lidar to realize global map merging with a good mapping effect. Inspired by the simplified structure loop detection, the 3D cooperative mapping method based on the geometric features of building structures is proposed
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
