Distributed map fusion with sporadic updates for large domains

Abstract

Simultaneous localization and mapping (SLAM) algorithms allow a single robot to reduce the effects of drifting sensor biases while exploring unknown, GPS-denied environments. To reduce exploration time, a team of robots can build smaller maps in parallel and perform map fusion. Most map fusion techniques require a known relative transformation between… (More)
DOI: 10.1109/ICRA.2015.7139581

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