ORB-Based Map Fusion with Position Transformation for Enhanced Pairwise Connection

Lucas Alexandre Zick, Lucas Alexandre Zick, Dieisson Martinelli, Dieisson Martinelli, Andre Schneider de Oliveira, Vivian Kalempa

2025

Abstract

This paper discusses developing and evaluating a map fusion algorithm based on ORB (Oriented FAST and Rotated BRIEF) feature matching, designed to improve the integration of robotic occupancy grids. The algorithm effectively merges maps generated by multiple robots, accommodating map size and orientation variations. A key aspect of its functionality is the ability to accurately position robots within the fused map, even when the overlap between maps is minimal. Comprehensive testing demonstrated the algorithm’s effectiveness in identifying correlations between different map pairs and aligning them accurately, as well as its capability to assess the success of the merging process, distinguishing between successful merges and those with inaccuracies. The findings indicate that this approach significantly enhances the capabilities of multi-robot systems, improving navigation and operational efficiency in complex environments.

Paper Citation

in Harvard Style

Zick L., Martinelli D., de Oliveira A. and Kalempa V. (2025). ORB-Based Map Fusion with Position Transformation for Enhanced Pairwise Connection. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 185-193. DOI: 10.5220/0013670500003982

in Bibtex Style

@conference{icinco25,
author={Lucas Zick and Dieisson Martinelli and Andre de Oliveira and Vivian Kalempa},
title={ORB-Based Map Fusion with Position Transformation for Enhanced Pairwise Connection},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={185-193},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013670500003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - ORB-Based Map Fusion with Position Transformation for Enhanced Pairwise Connection
SN - 978-989-758-770-2
AU - Zick L.
AU - Martinelli D.
AU - de Oliveira A.
AU - Kalempa V.
PY - 2025
SP - 185
EP - 193
DO - 10.5220/0013670500003982
PB - SciTePress