Image Preprocessing with Enhanced Feature Matching for Map Merging in the Presence of Sensing Error

• Published in: Sensors (Basel, Switzerland) Vol. 23; no. 16; p. 7303
• Main Authors: Chen, Yu-Lin, Chan, Kuei-Yuan
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.08.2023; MDPI
• Subjects: Algorithms; Equipment and supplies; Image processing; image stitching; map merge; Methods; occupancy grid map; Robots; simultaneous localization and mapping

Autonomous robots heavily rely on simultaneous localization and mapping (SLAM) techniques and sensor data to create accurate maps of their surroundings. When multiple robots are employed to expedite exploration, the resulting maps often have varying coordinates and scales. To achieve a comprehensive...