A Fast Map Merging Algorithm in the Field of Multirobot SLAM

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="169635.fig.006a" src="https://static.hindawi.com/articles/tswj/volume-2013/169635/figures/169635.fig.006a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Simulation environment</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="169635.fig.006b" src="https://static.hindawi.com/articles/tswj/volume-2013/169635/figures/169635.fig.006b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Partial map <i>m </i><sub>1</sub></td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="169635.fig.006c" src="https://static.hindawi.com/articles/tswj/volume-2013/169635/figures/169635.fig.006c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Partial map <i>m </i><sub>2</sub></td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="169635.fig.006d" src="https://static.hindawi.com/articles/tswj/volume-2013/169635/figures/169635.fig.006d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Map merging based on preliminary estimation</td></tr></table></td></tr><tr class="fig-image" id="e"><td><img alt="169635.fig.006e" src="https://static.hindawi.com/articles/tswj/volume-2013/169635/figures/169635.fig.006e.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(e) </b>Map merging based on optimized estimation</td></tr></table></td></tr></table>

The Scientific World Journal

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Figure 6

Figure 6: A Fast Map Merging Algorithm in the Field of Multirobot SLAM 