Stochastic map merging in rescue environments

  • Authors:

  • Stefano Carpin;Andreas Birk

  • Affiliations:

  • School of Engineering and Science, International University of Bremen, Germany;School of Engineering and Science, International University of Bremen, Germany

  • Venue:
  • RoboCup 2004
  • Year:
  • 2005

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Abstract

We address the problem of merging multiple noisy maps in the rescue environment. The problem is tackled by performing a stochastic search in the space of possible map transformations, i.e. rotations and translations. The proposed technique, which performs a time variant Gaussian random walk, turns out to be a generalization of other search techniques like hill-climbing or simulated annealing. Numerical examples of its performance while merging partial maps built by our rescue robots are provided.