Fast 2D Map Matching Based on Area Graphs
Jiawei Hou, Haofei Kuang, S\"oren Schwertfeger

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.
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Taxonomy
TopicsRobotics and Sensor-Based Localization · Data Management and Algorithms · Advanced Image and Video Retrieval Techniques
