DocumentCode
596416
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
fYear
2012
fDate
26-28 Nov. 2012
Firstpage
285
Lastpage
287
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/URAI.2012.6462995
Filename
6462995
Link To Document