ロボットの長期間活動のための地図結合

抄録

This paper presents a map-merging method which enables the robot to continue working for months and years. The proposed method merges a reference map and the current map to create a new reference map for the next use. Consistency check for map merging is performed using pseudo χ² test. After map merging, the method reduces the map size by removing redundant data in the pose graph and point cloud for long-term map maintenance. Experiments show the proposed method successfully merges maps and reduces the map size.