Title :
A survey of map merging techniques for cooperative-SLAM
Author :
Heon-Cheol Lee ; Seung-Hwan Lee ; Tae-Seok Lee ; Doo-Jin Kim ; Beom-Hee Lee
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Seoul Nat. Univ., Seoul, South Korea
Abstract :
This paper presents a survey of map merging techniques for cooperative-SLAM. The recently proposed map merging techniques are classified into two categories: direct map merging and indirect map merging. In each category, several techniques are briefly described. Then, their advantages and disadvantages are discussed in the context of accuracy and computation time. The description and discussion can contribute to realizing and improving cooperative-SLAM.
Keywords :
SLAM (robots); mobile robots; multi-robot systems; cooperative-SLAM; direct map merging; indirect map merging; map merging techniques; simultaneous localization and mapping; Feature extraction; Hardware; Merging; Simultaneous localization and mapping; Visualization; Cooperative-SLAM; Distributed robot system; Map merging technique;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6462995
