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Map Fusion based on a multi-map SLAM framework

Abstract : This paper presents a method for fusing two maps of an environment: one estimated with an application of the Simultaneous Localization and Mapping (SLAM) concept and the other one known a priori by a vehicle. The goal of such an application is double: first, to estimate the vehicle pose in this known map and, second, to constrain the map estimate with the known map using an implementation of the local maps fusion approach and a heterogeneous mapping of the environment. This article shows how a priori knowledge available in the form of a map can be fused within an EKF-SLAM framework to obtain more accuracy on the vehicle poses and map estimates. Simulation and experimental results are given to show these improvements.
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https://hal.archives-ouvertes.fr/hal-00343546
Contributor : Paul Checchin <>
Submitted on : Monday, December 1, 2008 - 11:48:06 PM
Last modification on : Tuesday, July 2, 2019 - 4:08:03 PM

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  • HAL Id : hal-00343546, version 1

Citation

François Chanier, Paul Checchin, Christophe Blanc, Laurent Trassoudaine. Map Fusion based on a multi-map SLAM framework. IEEE Conference on Multi Fusion and Integration for Intelligent Systems (MFI), Aug 2008, Seoul, South Korea. pp.EA031. ⟨hal-00343546⟩

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