Application of triangle similar matching in multi-robot SLAM map

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.