The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS
Transactions ID Number: 88-287
Full Name: Monica Ballesta
Position: Ph.D. Candidate
Age: ON
Sex: Female
Address: Avda. de la universidad s/n, 03202 ELCHE
Country: SPAIN
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E-mail address: m.ballesta@umh.es
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Title of the Paper: map fusion in an independent multirobot approach
Authors as they appear in the Paper: Monica Ballesta Arturo Gil Oscar Reinoso Luis Paya Luis M. Jimenez
Email addresses of all the authors: m.ballesta@umh.es,arturo.gil@umh.es,o.reinoso@umh.es,lpaya@umh.es,luis.jimenez@umh.es
Number of paper pages: 10
Abstract: This paper concentrates on the study on the map fusion problem in the context of a multi-robot map building approach. Concretely it is seen as one of the steps towards the independent multi-robot map building. In the situation proposed a set of several robots performs map building tasks without the notion of other robots' existence. Each robot builds its own local map using its observations and estimates its path independently. As a result, there will be a set of local maps that can be fused into a global one. This is the case when the map fusion takes importance. Particularly, we focus our experiments on landmark-based maps constructed using visual information and by means of a particle filter. When fusing two maps, we consider the uncertainty of the landmarks integrated by each different robot to its map.
Keywords: SLAM Map fusion Visual landmarks Particle Filter Map Alignment
EXTENSION of the file: .pdf
Special (Invited) Session: Towards Multi-robot Independent Visual SLAM
Organizer of the Session: 646-307
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