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3D maps integration based on overlapping regions matching

Drwięga Michał

Journal of Automation Mobile Robotics and Intelligent Systems

2021

Vol. 15, No. 3

70--80

This paper presents a developed method of 3D maps integration based on overlapping regions detection and matching that works without an initial guess about transformation between maps. The presented solution is based on a classic pipeline approach from computer vision that has been applied to the 3D maps integration with multiple improvements related to model extraction and the descriptors matching. The process of finding transformation between maps consists of three steps. The first one is the extraction of the model from one of the maps. Then the initial transformation is estimated between extracted model and another map based on feature extraction, description, and matching. The assumption is that the maps have an overlapping area that can be used during the feature‐based alignment. In the last step, the initial so‐ lution is corrected using local alignment approaches, for example, ICP or NDT. The maps are stored in the octree based representation (octomaps) but during transformation estimation, a point cloud representation is used as well. In addition, the presented method was verified in various experiments: in a simulation, with wheeled robots, and with publicly available datasets. Eventually, the solution can be applied to many robotic applications related to the exploration of unknown environments. Nevertheless, so far it was validated with a group of wheeled robots. Furthermore, the developed method has been implemented and released as a part of the open‐source ROS package 3d_map_server.