Hierarchical probabilistic fusion framework for matching and merging of 3-D occupancy maps

• Main Authors: Yue, Yufeng, Senarathne, P. G. C. Namal, Yang, Chule, Zhang, Jun, Wen, Mingxing, Wang, Danwei
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2019
• Subjects: Sensors; Probabilistic Logic; Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/106304; http://hdl.handle.net/10220/49018; https://doi.org/10.1109/JSEN.2018.2867854
• Institution: Nanyang Technological University

Fusing 3-D maps generated by multiple robots in real/semi-real time distributed mapping systems are addressed in this paper. A 3-D occupancy grid-based approach for mapping is utilized to satisfy the real/semi-real time and distributed operating constraints. This paper proposes a novel hierarchical...