Robust Semantic Map Matching Algorithm Based on Probabilistic Registration Model
Qingxiang Zhang Meiling Wang Yufeng Yue Qingxiang Zhang Meiling Wang Yufeng Yue
The matching and fusing of local maps generated by multiple robots can greatly enhance the performance of relative localization and collaborative mapping. Currently, existing semantic matching methods are partly based on classical iterative closet point (ICP), which typically fail in cases with large initial error. What’s more, current semantic matching algorithms have high computation complexity ...