In many applications of autonomous mobile robots, the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To exploit the available information in both maps to the full capacity, the robot must find the correct association between the frames of the input maps. There exists many approaches to address this challenge, however, most of those methods rely on assumptions such as similar modalities of the maps, same scale, or existence of an initial guess for the alignment. In this work we proposed a decomposition based method for 2D spatial map alignment which do not rely on aforementioned assumptions. The proposed method is validated and compared with other approaches from generic data association approaches to map alignment specific algorithms, over real world examples of four different environment with thirty six sensor maps and four layout maps.
For finding the correct matching between different modalities of the maps, Shahbandi et al. propose a decomposition-based algorithm to match 2D spatial maps REF .
2D Map Alignment With Region Decomposition
ArXiv
ArXiv
Computer Science Engineering