Map fusion based on a multi-map SLAM framework

  • Chanier F
  • Checchin P
  • Blanc C
 et al. 
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Abstract

This paper presents a method for fusing two maps of an environment: one estimated with an application of the simultaneous localization and mapping (SLAM) concept and the other one known a priori by a vehicle. The goal of such an application is double: first, to estimate the vehicle pose in this known map and, second, to constrain the map estimate with the known map using an implementation of the local maps fusion approach and a heterogeneous mapping of the environment. This article shows how a priori knowledge available in the form of a map can be fused within an EKF-SLAM framework to obtain more accuracy on the vehicle poses and map estimates. Simulation and experimental results are given to show these improvements.

Author-supplied keywords

  • EKF SLAM
  • Multi map fusion
  • Robotcentric local map approach

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Authors

  • François Chanier

  • Paul Checchin

  • Christophe Blanc

  • Laurent Trassoudaine

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