Grid map merging approach of multirobot based on SURF feature

doi:10.13382/j.jemi.2017.06.007

Home > Archive>Volume 31, Issue 6, 2017 >859-868. DOI:10.13382/j.jemi.2017.06.007

Grid map merging approach of multirobot based on SURF feature
DOI:
                        10.13382/j.jemi.2017.06.007
                    
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Author:
                        Tang HongweiTang Hongwei
1. National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China; 2. Hunan Provincial Key Laboratory of Grids Operation and Control on MultiPower Sources Area, Shaoyang University, Shaoyang 422000, China
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Sun Wei1Sun Wei
National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China
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Yang Kai3Yang Kai
Network Security and Technical Reconnaissance Detachment, Changsha Public Security Bureau, Changsha 410007,China
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Lin Anping1Lin Anping
National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China
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Lv Yunfeng1Lv Yunfeng
National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China
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Cheng Xi1Cheng Xi
National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China
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Affiliation:1. National Engineering Laboratory for Robot Visual Perception and Control Technology, Hunan University, Changsha 410082, China; 2. Hunan Provincial Key Laboratory of Grids Operation and Control on MultiPower Sources Area, Shaoyang University, Shaoyang 422000, China; 3. Network Security and Technical Reconnaissance Detachment, Changsha Public Security Bureau, Changsha 410007,China
Clc Number:TP24
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Abstract:

Map merging is a crucial technology for cooperative mapping of multirobot system. A multirobot grid map merging method based on SURF (speeded up robust features) algorithm is studied. In the approach, the robot motion coordinate system is transformed into a rigid body. The mathematical model of the grid map merging problem is establishmented as minimization problem of image registration. Firstly, an improved SURF algorithm is used to extract the features from the grid maps. Secondly, the RANSAC (random sampling consensus) algorithm is employed to eliminate the mismatch and get the initial merging parameters, and the merging parameter is used as the initial value of the ICP (iterative nearest point) algorithm to solve the objective function. Finally, the open datasets and the Turletbot2 mobile robots are adopted for experiments. The experimental results verify that the proposed method can achieve good robustness and high accuracy in the grid map merging by multirobots, the fast speed of map merging indicates that it is suitable for large scale environment.

Key words:multiple mobile robot; grid map merging; minimization problem; SURF feature; ICP algorithm

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Online: August 02,2017
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