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Topological Map Merging

  • Wesley H. Huang
  • Kristopher R. Beevers

Abstract

A key capability for teams of mobile robots is to cooperatively explore and map an environment. Maps created by one robot must be merged with those from another robot — a difficult problem when the robots do not have a common reference frame. This problem is greatly simplified when topological maps are used because they provide a concise description of the navigability of a space. In this paper, we formulate an algorithm for merging two topological maps that uses aspects of maximal subgraph matching and image registration methods. Simulated and real-world experiments demonstrate the efficacy of our algorithm.

Keywords

Mobile Robot Image Registration Iterative Close Point Transformation Space Common Subgraph 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer 2007

Authors and Affiliations

  • Wesley H. Huang
    • 1
  • Kristopher R. Beevers
    • 1
  1. 1.Department of Computer ScienceRensselaer Polytechnic InstituteTroyUSA

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