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Analysis of Map Alignment techniques in visual SLAM systems

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5 Author(s)
Ballesta, M. ; Dept. of Ind. Syst. Eng. (Edif. Torreblanca), Miguel Hernandez Univ., Alicante ; Reinoso, O. ; Gil, A. ; Julia, M.
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In a multi-robot system, in which each of the robots constructs its own local map, it is necessary to perform the fusion of these maps into a global one. This task is normally performed in two different steps: by aligning the maps and then merging the data. This paper focusses on the first step: Map Alignment, which consists in obtaining the transformation between the local maps built independently. In this way, these local maps will have a common reference frame. In this paper, a collection of algorithms for solving the map alignment are analyzed under different conditions of noise in the data and intersection between local maps. This study is performed in a visual SLAM context, in which the robots construct landmark-based maps. The landmarks consist in 3D points captured from the environment and characterized by a visual descriptor.

Published in:

Emerging Technologies and Factory Automation, 2008. ETFA 2008. IEEE International Conference on

Date of Conference:

15-18 Sept. 2008