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Heterogeneous Collaborative Mapping For Autonomous Mobile Systems, Sooraj Sunil

Electronic Theses and Dissertations

An accurate map of the environment is essential for autonomous robot navigation. During collaborative simultaneous localization and mapping, the individual robots usually represent the environment as probabilistic occupancy grid maps. These maps can be exchanged among robots and fused to reduce the overall exploration time, which is the main advantage of the collaborative systems. Such fusion is challenging due to the unknown initial correspondence problem. This thesis presents a novel feature-based map fusion approach through detecting, describing, and matching geometrically consistent features present in the overlapping region between the maps. The main drawback of usual feature-based approaches is the incapability …