A new method for robust and efficient occupancy grid-map matching

Abstract

In this paper we propose a new matching method for occupancy grid-maps under the perspective of image registration. Our approach is based on extracting feature descriptors by means of a polar coordinate transformation around highly distinctive points. The proposed method presents a modest computation complexity, although it can find matchings between features reliably and regardless their orientation. Experimental results show the robustness of the estimates even for dynamic environments. Our proposal has important applications into the field of mobile robotics. © Springer-Verlag Berlin Heidelberg 2007.