FRAME: A Modular Framework for Autonomous Map-merging: Advancements in the Field

arXiv:2404.18006v1 Announce Type: cross
Abstract: In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned descriptors to efficiently detect overlap between maps, eliminating the need for the time-consuming global feature extraction and feature matching process. The estimated overlapping regions are used to calculate a homogeneous rigid transform, which serves as an initial condition for the GICP point …

abstract art article arxiv autonomous cloud context cs.cv cs.ro exploration framework map maps merging modular novel recognition robot state type