Efficient Merging of Maps and Detection of Changes

Flood, Gabrielle (author): Lund University,Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH

Gillsjö, David (author): Lund University,Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH

Heyden, Anders (author): Lund University,Lunds universitet,Mathematical Imaging Group,Forskargrupper vid Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,Lund University Research Groups,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH

Åström, Kalle (author): Lund University,Lunds universitet,Mathematical Imaging Group,Forskargrupper vid Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,Lund University Research Groups,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH

Felsberg, Michael (editor)

Forssén, Per-Erik (editor)

Unger, Jonas (editor)

Sintorn, Ida-Maria (editor)

(creator_code:org_t)

2019-05-12
2019
English 13 s.
In: Image Analysis - 21st Scandinavian Conference, SCIA 2019, Proceedings. - Cham : Springer International Publishing. - 0302-9743 .- 1611-3349. - 9783030202040 ; 11482 LNCS, s. 348-360

Related links:: http://dx.doi.org/10...; show more...; https://lup.lub.lu.s...; https://doi.org/10.1...; show less...

Abstract Subject headings

With the advent of cheap sensors and computing capabilities as well as better algorithms it is now possible to do structure from motion using crowd sourced data. Individual estimates of a map can be obtained using structure from motion (SfM) or simultaneous localization and mapping (SLAM) using e.g. images, sound or radio. However the problem of map merging as used for collaborative SLAM needs further attention. In this paper we study the basic principles behind map merging and collaborative SLAM. We develop a method for merging maps – based on a small memory footprint representation of individual maps – in a way that is computationally efficient. We also demonstrate how the same framework can be used to detect changes in the map. This makes it possible to remove inconsistent parts before merging the maps. The methods are tested on both simulated and real data, using both sensor data from radio sensors and from cameras.

By the author/editor: Flood, Gabrielle; Gillsjö, David; Heyden, Anders; Åström, Kalle; Felsberg, Michae ...; Forssén, Per-Eri ...; show more...; Unger, Jonas; Sintorn, Ida-Mar ...; show less...

About the subject

NATURAL SCIENCES: NATURAL SCIENCES; and Computer and Inf ...; and Computer Vision ...

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