π-Map: A Decision-Based Sensor Fusion with Global Optimization for Indoor Mapping
Zhiliu Yang,Bo Yu,Wei Hu,Jie Tang,Shaoshan Liu,Chen Liu,Zhiliu Yang,Bo Yu,Wei Hu,Jie Tang,Shaoshan Liu,Chen Liu
In this paper, we propose π-map, a tightly coupled fusion mechanism that dynamically consumes LiDAR and sonar data to generate reliable and scalable indoor maps for autonomous robot navigation. The key novelty of π-map over previous attempts is the utilization of a fusion mechanism that works in three stages: the first LiDAR scan matching stage efficiently generates initial key localization poses;...
