The interest of this paper is to fuse maps, expressed in different local coordinates, of multiple mobile agents with limited fields-of-view, without knowledge of the relative poses among agents. To this end, the map is modeled as a multi-object Poisson process and a recently developed approach, named Cauchy-Schwarz fusion (CSF), is adopted. In order to perform calibration among local coordinates, the information-Theoretic interpretation of CSF is exploited to build a suitable map discrepancy to be minimized with respect to the drift and orientation parameters. A multi-hypothesis method is adopted in order to efficiently solve the resulting optimization problem.

Distributed Joint Mapping and Registration with Limited Fields-of-View / Gao L.; Battistelli G.; Chisci L.; Gostar A.K.; Hoseinnezhad R.. - ELETTRONICO. - (2019), pp. 1-6. (Intervento presentato al convegno 8th International Conference on Control, Automation and Information Sciences, ICCAIS 2019 tenutosi a Chengdu, China nel 2019) [10.1109/ICCAIS46528.2019.9074662].

Distributed Joint Mapping and Registration with Limited Fields-of-View

Gao L.;Battistelli G.;Chisci L.;
2019

Abstract

The interest of this paper is to fuse maps, expressed in different local coordinates, of multiple mobile agents with limited fields-of-view, without knowledge of the relative poses among agents. To this end, the map is modeled as a multi-object Poisson process and a recently developed approach, named Cauchy-Schwarz fusion (CSF), is adopted. In order to perform calibration among local coordinates, the information-Theoretic interpretation of CSF is exploited to build a suitable map discrepancy to be minimized with respect to the drift and orientation parameters. A multi-hypothesis method is adopted in order to efficiently solve the resulting optimization problem.
2019
ICCAIS 2019 - 8th International Conference on Control, Automation and Information Sciences
8th International Conference on Control, Automation and Information Sciences, ICCAIS 2019
Chengdu, China
2019
Gao L.; Battistelli G.; Chisci L.; Gostar A.K.; Hoseinnezhad R.
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Utilizza questo identificatore per citare o creare un link a questa risorsa: https://hdl.handle.net/2158/1218782
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