Heterogeneous Map Fusion from Occupancy Grid Histograms for Mobile Robots
2024
Aleksandrs Sisojevs, Aleksandrs Koršunovs, Mārtiņš Banis, Vilnis Turkovs, Reinis Cimurs

With the increase in the capabilities of robotic devices, there is a growing need for accurate and relevant environment maps. Current robotic devices can map their surrounding environment using a multitude of sensors as mapping sources. The challenge lies in combining these heterogeneous maps into a single, informative map to enhance the robustness of subsequent robot control algorithms. In this paper, we propose to perform map fusion as a post-processing step based on the alignment of the window of interest (WOI) from occupancy grid histograms. Initially, histograms are obtained from map pixels to determine the relevant WOI. Subsequently, they are transformed to align with a selected base image using the Manhattan distance of histogram values and the rotation angle from WOI line regression. We demonstrate that this method enables the combination of maps from multiple sources without the need for sensor calibration.


Atslēgas vārdi
Heterogeneous map fusion, Occupancy grid histograms, Mapping for mobile robots
DOI
10.2478/acss-2024-0010
Hipersaite
https://reference-global.com/article/10.2478/acss-2024-0010

Sisojevs, A., Koršunovs, A., Banis, M., Turkovs, V., Cimurs, R. Heterogeneous Map Fusion from Occupancy Grid Histograms for Mobile Robots. Applied Computer Systems, 2024, Vol. 29, No. 1, 78.-84.lpp. ISSN 2255-8683. e-ISSN 2255-8691. Pieejams: doi:10.2478/acss-2024-0010

Publikācijas valoda
English (en)
RTU Zinātniskā bibliotēka.
E-pasts: uzzinas@rtu.lv; Tālr: +371 28399196