Pairwise Consistent Measurement Set Maximization for Robust Multi-Robot Map Merging

摘要

This paper reports on a method for robust selection of inter-map loop closures in multi-robot simultaneous localization and mapping (SLAM). Existing robust SLAM methods assume a good initialization or an “odometry backbone” to classify inlier and outlier loop closures. In the multi-robot case, these assumptions do not always hold. This paper presents an algorithm called Pairwise Consistency Maximization (PCM) that estimates the largest pairwise internally consistent set of measurements. Finding the largest pairwise internally consistent set can be transformed into an instance of the maximum clique problem from graph theory, and by leveraging the associated literature it can be solved in realtime. This paper evaluates how well PCM approximates the combinatorial gold standard using simulated data. It also evaluates the performance of PCM on synthetic and real-world data sets in comparison with DCS, SCGP, and RANSAC, and shows that PCM significantly outperforms these methods.