A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
A survey of image registration techniques
ACM Computing Surveys (CSUR)
On a relation between graph edit distance and maximum common subgraph
Pattern Recognition Letters
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Heterogeneous Teams of Modular Robots for Mapping and Exploration
Autonomous Robots
Fast and accurate map merging for multi-robot systems
Autonomous Robots
Pure topological mapping in mobile robotics
IEEE Transactions on Robotics
An approach to multi-robot site exploration based on principles of self-organisation
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part II
Cooperative multi-robot map merging using Fast-SLAM
RoboCup 2009
Multi-robot olfactory search in structured environments
Robotics and Autonomous Systems
Robotic clusters: Multi-robot systems as computer clusters
Robotics and Autonomous Systems
Anytime merging of appearance-based maps
Autonomous Robots
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When multiple robots cooperatively explore an environment, maps from individual robots must be merged to produce a single globally consistent map. This is a challenging problem when the robots do not have a common reference frame or global positioning. In this paper, we describe an algorithm for merging embedded topological maps. Topological maps provide a concise description of the navigability of an environment, and, with measurements easily collected during exploration, the vertices of the map can be embedded in a metric space. Our algorithm uses both the structure and the geometry of topological maps to determine the best correspondence between maps with single or multiple overlapping regions. Experiments with simulated and real-world data demonstrate the efficacy of our algorithm.