大規模地図構築のためのランドマークを用いた自動地図統合

抄録

A map integrating approach is proposed in this paper for solving the problem of labor saving. When constructing a large-scale map using multiple robots, the coordinate system of each maps created, must be unified into one coordinate system. Since the area where the robot is active has a large scale, both outdoors and indoors, a map building method which can correspond to any environment is necessary. We propose a method to integrate plural maps, each having different coordinate systems by using informations such as combining landmarks and road shapes. An optimization process is performed on a map created by multiple robots, thereby realizing constructions of a map with a higher accuracy. In order to show the usefulness of this method, we will conduct a map building experiment in the area, which includes indoors.