Multi-robot raster map fusion without initial relative position
Minghao Wang, Ming Cong, Yu Du, Dong Liu, Xiaojing Tian
Abstract
Purpose The purpose of this study is to solve the problem of an unknown initial position in a multi-robot raster map fusion. The method includes two-dimensional (2D) raster maps and three-dimensional (3D) point cloud maps. Design/methodology/approach A fusion method using multiple algorithms was proposed. For 2D raster maps, this method uses accelerated robust feature detection to extract feature points of multi-raster maps, and then feature points are matched using a two-step algorithm of minimum Euclidean distance and adjacent feature relation. Finally, the random sample consensus algorithm was used for redundant feature fusion. On the basis of 2D raster map fusion, the method of coordinate alignment is used for 3D point cloud map fusion. Findings To verify the effectiveness of the algorithm, the segmentation mapping method (2D raster map) and the actual robot mapping method (2D raster map and 3D point cloud map) were used for experimental verification. The experiments demonstrated the stability and reliability of the proposed algorithm. Originality/value This algorithm uses a new visual method with coordinate alignment to process the raster map, which can effectively solve the problem of the demand for the initial relative position of robots in traditional methods and be more adaptable to the fusion of 3D maps. In addition, the original data of the map can come from different types of robots, which greatly improves the universality of the algorithm.