Vision Feature Extraction Algorithm for Occupancy Grid Maps Merging

被引：0

作者：

Liang Jian ^{[1
]}

Zhang Chen ^{[1
]}

Lv Qiang ^{[1
]}

Wei Heng ^{[1
]}

Ma Manzhen ^{[1
]}

机构：

[1] Acad Armored Land Forces, Beijing, Peoples R China

来源：

PROCEEDINGS OF 2017 2ND INTERNATIONAL CONFERENCE ON COMMUNICATION AND INFORMATION SYSTEMS (ICCIS 2017) | 2015年

关键词：

ORB; Grid map; Map merge; Robot Operating System;

D O I：

10.1145/3158233.3159372

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

With the improvement of single robot SLAM technology, multi-robot SLAM became a research hotspot.Map merge is one of the difficult issue.In this paper, aORBfeature extraction algorithmfor occupancygrid maps mergingwasimproved. ORB features have good rotation and scaleinvariance, while maintaining a compromise calculation speed, in the real-time SLAMaccess to a large number ofapplications. Based on Robot Operating System,two omnidirectional robots equipped with a 2D laser sensor RPLIDARbuildgrid maps via Hector SLAM. Map mergeisintegrated as an image registration problem, by extracting the ORB features of the grid mapsand usingBruteForce search method to match, among thebest matches,calculatingaffine transformationand merging.The experimental results show that the improved algorithm has abetter performance on real-time and effectiveness.

引用

页码：290 / 293

页数：4

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