Скачать или смотреть Map Merging - G10, G13 and G15

Fredy Tungadi, Wen Lik Dennis Lui, Lindsay Kleeman and Ray Jarvis

Summary:
This video shows an autonomous robot performing map merging using laser scan matching and omnidirectional vision in a challenging indoor environment. This system is a probabilistic, online and robust map merging system using a single robot configuration (can be extended to multi-robot configuration). The robot maps the entire lab G15, G10 and room G13 and is restarted at a random location in Lab G10 with the previously collected maps preloaded into the system. Subsequently, the robot is able to find reliable location to perform map merging in lab G10 before it heads out to G13. Once G13 is merged into the current map, it heads down the corridor and turns into lab G15. Multiple correct loop closures were detected along the way with 2 false positives detected by the vision system which is rejected by laser scan matching.

Paper:
F. Tungadi, W.L.D. Lui, L. Kleeman and R. Jarvis, "Robust Online Map Merging System using Laser Scan Matching and Omnidirectional Vision", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 7-14.