FRAME: Fast and Robust Autonomous 3D Point Cloud Map-Merging for Egocentric Multi-Robot Exploration
Nikolaos Stathoulopoulos,Anton Koval,Ali-akbar Agha-mohammadi,George Nikolakopoulos,Nikolaos Stathoulopoulos,Anton Koval,Ali-akbar Agha-mohammadi,George Nikolakopoulos
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots' poses. The novel proposed solution utilizes state-of-the-art place recognition learned descriptors, that through the framework's main pipeline, offer a fast and ro...
