Robust Loop Closure Selection Based on Inter-Robot and Intra-Robot Consistency for Multi-Robot Map Fusion
In multi-robot simultaneous localization and mapping (SLAM) systems, the system must create a consistent global map with multiple local maps and loop closures between robot poses. However, false-positive loop closures caused by perceptual aliasing can severely distort the global map, especially in G...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-05-01
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| Series: | Remote Sensing |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-4292/15/11/2796 |