A New Method for Robust and Efficient Occupancy Grid-Map Matching

Authors:
Jose-Luis Blanco;Javier Gonzalez;Juan-Antonio Fernandez-Madrigal
Affiliations:
Department of System Engineering and Automation, University of Malaga, Malaga 29071, Spain;Department of System Engineering and Automation, University of Malaga, Malaga 29071, Spain;Department of System Engineering and Automation, University of Malaga, Malaga 29071, Spain
Venue:
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
Year:
2007

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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.