Robust and efficient multi-robot 3D mapping with octree based occupancy grids

@article{Jessup2014RobustAE,
  title={Robust and efficient multi-robot 3D mapping with octree based occupancy grids},
  author={James P. Jessup and Sidney Nascimento Givigi and Alain Beaulieu},
  journal={2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)},
  year={2014},
  pages={3996-4001}
}
A technique for merging 3D octree based occupancy grid maps robust to error in transformation between map reference frames is proposed and implemented. Recent robotics applications require 3D representations of the environments in which robots are to operate. In many cases, such as Simultaneous Localization and Mapping (SLAM) and when a large environment is required to be mapped within a reasonable time constraint, it is not feasible for a single robot to map the entire portion of the… CONTINUE READING

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