Map Fusion based on a multi-map SLAM framework - Archive ouverte HAL Access content directly
Conference Papers Year : 2008

Map Fusion based on a multi-map SLAM framework

Abstract

This paper presents a method for fusing two maps of an environment: one estimated with an application of the Simultaneous Localization and Mapping (SLAM) concept and the other one known a priori by a vehicle. The goal of such an application is double: first, to estimate the vehicle pose in this known map and, second, to constrain the map estimate with the known map using an implementation of the local maps fusion approach and a heterogeneous mapping of the environment. This article shows how a priori knowledge available in the form of a map can be fused within an EKF-SLAM framework to obtain more accuracy on the vehicle poses and map estimates. Simulation and experimental results are given to show these improvements.
No file

Dates and versions

hal-00343546 , version 1 (01-12-2008)

Identifiers

  • HAL Id : hal-00343546 , version 1

Cite

François Chanier, Paul Checchin, Christophe Blanc, Laurent Trassoudaine. Map Fusion based on a multi-map SLAM framework. IEEE Conference on Multi Fusion and Integration for Intelligent Systems (MFI), Aug 2008, Seoul, South Korea. pp.EA031. ⟨hal-00343546⟩
75 View
0 Download

Share

Gmail Facebook X LinkedIn More