GRID MAP FUSION METHOD BASED ON MAXIMUM COMMON SUBGRAPH

摘要

Disclosed is a grid map fusion method based on a maximum common subgraph. The method comprises the following steps: S1, creating a grid map of an environment; S2, extracting a Harris angular point of a grid map to be fused; S3, extracting three angular points from each grid map to be fused; S4, determining whether three pairs of input angular points can form a triangle isomorphism scheme, and if not, returning to S3, and if so, performing S5; S5, iteratively constructing a polygon isomorphism scheme; S6, determining whether there is an angular point which is not substituted into the triangle isomorphism scheme, in the grid map to be fused, and if so, returning to S3, and if not, performing S7; S7, selecting an optimal polygon isomorphism scheme and a corresponding optimal transformation matrix; and S8, realizing grid map fusion according to the optimal transformation matrix and a fusion rule. The present invention can reliably realize grid map fusion and has the advantage of high fusion accuracy.