Merging partial maps without using odometry

Francesco Amigoni, Simone Gasparini, Maria Gini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

Most map building methods employed by mobile robots are based on the assumption that an estimate of the position of the robots can be obtained from odometry readings. In this paper we propose methods to build a global geometrical map by integrating partial maps without using any odometry information. This approach increases the flexibility in data collection. Robots do not need to see each other during mapping, and data can be collected by a single robot or multiple robots in one or multiple sessions. Experimental results show the effectiveness of our approach in different types of indoor environments.

Original languageEnglish (US)
Title of host publicationMulti-Robot Systems. From Swarms to Intelligent Automata - Proceedings from the 2005 International Workshop on Multi-Robot Systems
PublisherKluwer Academic Publishers
Pages133-144
Number of pages12
ISBN (Print)1402033885, 9781402033889
DOIs
StatePublished - 2005
Event3rd International Workshop on Multi-Robot Systems - Washington, DC, United States
Duration: Mar 1 2005Mar 1 2005

Publication series

NameMulti-Robot Systems. From Swarms to Intelligent Automata - Proceedings from the 2005 International Workshop on Multi-Robot Systems
Volume3

Other

Other3rd International Workshop on Multi-Robot Systems
CountryUnited States
CityWashington, DC
Period3/1/053/1/05

Keywords

  • Distributed mapping
  • Map merging
  • Scan matching

Fingerprint

Dive into the research topics of 'Merging partial maps without using odometry'. Together they form a unique fingerprint.

Cite this