On registration of vector maps with known correspondences

摘要

Data association and registration is an important and actively researched topic in robotics. This paper deals with registration of two sets of line segments, which is especially useful in mapping applications. Our method is non-iterative, finding an optimal transformation in a single step, in a time proportional only to a number of the corresponding line segments. The procedure also provides diagnostic measures of reliability of the computation and of similarity of the data sets being registered. At this point, the method presumes known correspondences, which is limiting, but the discussion in the end reveals some possibilities to overcome this issue, which we are examining. Practical properties are demonstrated on a typical task of localization of a robot with a known map.