Research Article
A Fast Map Merging Algorithm in the Field of Multirobot SLAM
Algorithm 3
Random walk optimization.
Input: the grid map , , initial relative pose estimation | Output: the relative pose between map and | 1 ; ; | 2 ; ; | 3 ; | 4 while do | 5 ; | 6 ; | 7 ; | 8 if or then | 9 ; ; ; | 10 ; | 11 ; | 12 end | 13 end | 14 return ; |
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