Fast 2D Map Matching Based on Area Graphs

TL;DR

This paper introduces a novel 2D map matching algorithm based on area graphs that outperforms existing methods in large-scale maps and offers faster computation, without relying on rigid transformation assumptions.

Contribution

The paper presents a new area segmentation-based 2D map matching algorithm that improves performance and speed over state-of-the-art methods, especially for large-scale maps.

Findings

Better performance on large-scale maps

Faster computation speed

Outperforms existing methods in accuracy

Abstract

We present a novel area matching algorithm for merging two different 2D grid maps. There are many approaches to address this problem, nevertheless, most previous work is built on some assumptions, such as rigid transformation, or similar scale and modalities of two maps. In this work we propose a 2D map matching algorithm based on area segmentation. We transfer general 2D occupancy grid maps to an area graph representation, then compute the correct results by voting in that space. In the experiments, we compare with a state-of-the-art method applied to the matching of sensor maps with ground truth layout maps. The experiment shows that our algorithm has a better performance on large-scale maps and a faster computation speed.