Abstract:The fusion of independently obtained stochastic maps by collaborating mobile
agents is considered. The proposed approach includes two parts: matching of
stochastic maps and maximum likelihood alignment. In particular, an affine
invariant hypergraph is constructed for each stochastic map, and a bipartite
matching via a linear program is used to establish landmark correspondence
between stochastic maps. A maximum likelihood alignment procedure is proposed
to determine rotation and translation between common land… Show more
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