Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (18): 198-200.DOI: 10.3778/j.issn.1002-8331.2009.18.059

• 工程与应用 • Previous Articles     Next Articles

Application of triangle similar matching in multi-robot SLAM map

SHI Shou-dong,XU De-min   

  1. College of Marine,Northwestern Polytechnical University,Xi’an 710072,China
  • Received:2009-01-19 Revised:2009-02-19 Online:2009-06-21 Published:2009-06-21
  • Contact: SHI Shou-dong



  1. 西北工业大学 航海学院,西安 710072
  • 通讯作者: 石守东

Abstract: In multi-robot SLAM,every feature maps that have been respectively created by those robots must be merged into single feature map.This paper uses the similar principle of triangle to match features of SLAM feature map.This method uses the location-related characteristics of landmarks to composite minimum triangles,and matches landmarks of two feature maps.Then record the matching number of corresponding landmarks.Finally,landmarks that have the maximum corresponding matching number are pairs of landmarks that associate with each other.Experiments results prove the effectiveness of this method.The result shows the better superiority than distance method,and the algorithm has a high efficiency.

Key words: similar triangles, data association, feature map, Simultaneous Localization and Mapping(SLAM)

摘要: 在多机器人同时定位与地图创建(Simultaneous Localization and Mapping,SLAM)协同工作下,要求融合各机器人的特征子地图形成单一的公共地图,利用三角形相似性原理,实现SLAM定位中各机器人子地图的相互匹配。在机器人创建的地图中,依据路标位置相关的特征组成最小三角形,并通过三角形相似性原理对各机器人创建子地图进行相似性匹配,并记录相似三角形对应点匹配次数,最后彼此匹配次数最多的对应路标即为相关联的路标对。实验结果表明该方法是有效的,且鲁棒性强。

关键词: 三角形相似, 数据关联, 特征地图, 同时定位与地图创建(SLAM)