Multi-modal Sensors Path Merging

  • Léo Baudouin
  • Youcef Mezouar
  • Omar Ait-Aider
  • Helder Araújo
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


In this paper, we propose an original method to merge maps from different robots. Each map was built using a camera which can be different: perspective, fish-eye, or omnidirectional. Each robot creates its own local map, while the main goal is to build a global map assuming that the paths overlap each other on at least one segment of the path. The first step is to find this common part by using a trajectory correlation method. Then the rigid transformation between trajectories is computed and used to merge paths. Since the robot paths are not sufficient to determine if the matching is correct, an image sensor is required do finish the procedure.


Map merging Autonomous robots Multi-robots Vision Loop-closure 



This work was supported by a help from the government managed by the ‘Agence Nationale de la Recherche’ for the program ‘Investissements d’Avenir’ in the project LabEx IMobS\({}^{3}\) (ANR7107LABX716701), a help from the ‘Union Européenné’ to the ‘Programme Compétitivité Régionale et Emploi’ (200772013—FEDER—Région Auvergne) and a help from the ‘Région Auvergne’.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Léo Baudouin
    • 1
  • Youcef Mezouar
    • 1
  • Omar Ait-Aider
    • 1
  • Helder Araújo
    • 2
  1. 1.Institut PascalUniversité Blaise PascalAubièreFrance
  2. 2.Institute for Systems and RoboticsUniversity of CoimbraCoimbraPortugal

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