A 3D map merge method based on maximum clique algorithm

Zhiqiang Zhang; Yanduo Zhang; Tao Lu; Xun Li; Aibo Xu; Jijun Xu

doi:10.1117/12.3031015

19 July 2024 A 3D map merge method based on maximum clique algorithm

Zhiqiang Zhang, Yanduo Zhang, Tao Lu, Xun Li, Aibo Xu, Jijun Xu

Proceedings Volume 13181, Third International Conference on Electronic Information Engineering, Big Data, and Computer Technology (EIBDCT 2024); 131812T (2024) https://doi.org/10.1117/12.3031015
Event: Third International Conference on Electronic Information Engineering, Big Data, and Computer Technology (EIBDCT 2024), 2024, Beijing, China

Abstract

Multiple robots are more effective in mapping unknown environments than a single robot. Time reduction resulting from parallelization is crucial for surveying complex areas. Multi-robot mapping, there are commonly two solutions. In the first solution, robots exchange raw data from sensors. The second method assumes that each robot independently creates a local map and exchanges and integrates it with other robots. In this paper, we propose a 3D map merge framework and a fine registration method using purely geometric maximal cliques that enhances efficiency through the utilization of overlapping regions in feature-based alignment processes. This algorithm does not require any initial guessing about the conversion between local maps. However, for successful integration, the map needs to have a common area. We demonstrate the effectiveness of the implemented methods in various environments.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Zhiqiang Zhang, Yanduo Zhang, Tao Lu, Xun Li, Aibo Xu, and Jijun Xu "A 3D map merge method based on maximum clique algorithm", Proc. SPIE 13181, Third International Conference on Electronic Information Engineering, Big Data, and Computer Technology (EIBDCT 2024), 131812T (19 July 2024); https://doi.org/10.1117/12.3031015

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KEYWORDS

Point clouds

Feature extraction

Histograms

Matrices

Data conversion

Sensors

Data modeling

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