Efficient map merging using a probabilistic generalized Voronoi diagram

@article{SajadSaeedi2012EfficientMM,
  title={Efficient map merging using a probabilistic generalized Voronoi diagram},
  author={G. Saeedi SajadSaeedi and Liam Paull and Michael Trentini and Mae L. Seto and Howard Li},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={4419-4424}
}
Simultaneous Localization and Mapping, or SLAM, is required for mobile robots to be able to explore prior unknown space without a global positioning reference. While multiple robots can achieve the exploration task more quickly, this benefit comes with the cost of added complexity. Probabilistic occupancy grid maps from multiple agents must be merged in real-time without any prior knowledge of their relative transformation. In addition, the probabilistic information of the maps must be… CONTINUE READING
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