Hierarchical Probabilistic Fusion Framework for Matching and Merging of 3-D Occupancy Maps

摘要

Fusing 3-D maps generated by multiple robots in real/semi-real time distributed mapping systems are addressed in this paper. A 3-D occupancy grid-based approach for mapping is utilized to satisfy the real/semi-real time and distributed operating constraints. This paper proposes a novel hierarchical probabilistic fusion framework, which consists of uncertainty modeling, map matching, transformation evaluation, and map merging. Before the fusion of maps, the map features and their uncertainties are explicitly modeled and integrated. For map matching, a two-level probabilistic map matching (PMM) algorithm is developed to include high-level structural and low-level voxel features. In the PMM, the structural uncertainty is first used to generate a coarse matching between the maps and its result is then used to improve the voxel level map matching, resulting in a more efficient and accurate matching between maps with a larger convergence basin. The relative transformation output from PMM algorithm is then evaluated based on the Mahalanobis distance, and the relative entropy filter is used subsequently to integrate the map dissimilarities more accurately, completing the map fusion process. The proposed approach is evaluated using map data collected from both simulated and real environments, and the results validate the accuracy, efficiency, and the support for larger convergence basin of the proposed 3-D occupancy map fusion framework.