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A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions
When multiple robots are involved in the process of simultaneous localization and mapping (SLAM), a global map should be constructed by merging the local maps built by individual robots, so as to provide a better representation of the environment. Hence, the map-merging methods play a crucial rule i...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7730201/ https://www.ncbi.nlm.nih.gov/pubmed/33297376 http://dx.doi.org/10.3390/s20236988 |
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author | Yu, Shuien Fu, Chunyun Gostar, Amirali K. Hu, Minghui |
author_facet | Yu, Shuien Fu, Chunyun Gostar, Amirali K. Hu, Minghui |
author_sort | Yu, Shuien |
collection | PubMed |
description | When multiple robots are involved in the process of simultaneous localization and mapping (SLAM), a global map should be constructed by merging the local maps built by individual robots, so as to provide a better representation of the environment. Hence, the map-merging methods play a crucial rule in multi-robot systems and determine the performance of multi-robot SLAM. This paper looks into the key problem of map merging for multiple-ground-robot SLAM and reviews the typical map-merging methods for several important types of maps in SLAM applications: occupancy grid maps, feature-based maps, and topological maps. These map-merging approaches are classified based on their working mechanism or the type of features they deal with. The concepts and characteristics of these map-merging methods are elaborated in this review. The contents summarized in this paper provide insights and guidance for future multiple-ground-robot SLAM solutions. |
format | Online Article Text |
id | pubmed-7730201 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-77302012020-12-12 A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions Yu, Shuien Fu, Chunyun Gostar, Amirali K. Hu, Minghui Sensors (Basel) Review When multiple robots are involved in the process of simultaneous localization and mapping (SLAM), a global map should be constructed by merging the local maps built by individual robots, so as to provide a better representation of the environment. Hence, the map-merging methods play a crucial rule in multi-robot systems and determine the performance of multi-robot SLAM. This paper looks into the key problem of map merging for multiple-ground-robot SLAM and reviews the typical map-merging methods for several important types of maps in SLAM applications: occupancy grid maps, feature-based maps, and topological maps. These map-merging approaches are classified based on their working mechanism or the type of features they deal with. The concepts and characteristics of these map-merging methods are elaborated in this review. The contents summarized in this paper provide insights and guidance for future multiple-ground-robot SLAM solutions. MDPI 2020-12-07 /pmc/articles/PMC7730201/ /pubmed/33297376 http://dx.doi.org/10.3390/s20236988 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Review Yu, Shuien Fu, Chunyun Gostar, Amirali K. Hu, Minghui A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions |
title | A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions |
title_full | A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions |
title_fullStr | A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions |
title_full_unstemmed | A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions |
title_short | A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions |
title_sort | review on map-merging methods for typical map types in multiple-ground-robot slam solutions |
topic | Review |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7730201/ https://www.ncbi.nlm.nih.gov/pubmed/33297376 http://dx.doi.org/10.3390/s20236988 |
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