MM4MM: Map Matching Framework for Multi-Session Mapping in Ambiguous and Perceptually-Degraded Environments
Zhenyu Wu,Wei Wang,Chunyang Zhao,Yufeng Yue,Jun Zhang,Hongming Shen,Danwei Wang,Zhenyu Wu,Wei Wang,Chunyang Zhao,Yufeng Yue,Jun Zhang,Hongming Shen,Danwei Wang
Multi-session mapping serves as the pre-requisite for autonomous robots to fulfill various long-term tasks (e.g., map updating, navigation, collaboration). However, it is challenging to implement multi-session mapping in enclosed or partially enclosed ambiguous environments (e.g., long corridors, industrial warehouses). Existing solutions either depend heavily on the matching of elementary geometr...
