Map Merging for Long-term Robotic Autonomy

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  • ロボットの長期間活動のための地図結合
  • ロボット ノ チョウキカン カツドウ ノ タメ ノ チズ ケツゴウ

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Abstract

<p>This paper presents a map-merging method which enables the robot to continue working for months and years. The proposed method merges a reference map and the current map to create a new reference map for the next use. Consistency check for map merging is performed using pseudo χ2 test. After map merging, the method reduces the map size by removing redundant data in the pose graph and point cloud for long-term map maintenance. Experiments show the proposed method successfully merges maps and reduces the map size. </p>

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