R3-[Q-Shape] - Research: Updating Map & Localization

Key Features

  • Alignment and merging are expressed as an iterative process
  • Based on correspondence of comprehensive shape features (establishing a large context)



Principle of Operation

The iterative process consists of three steps operating on individual corresponding shape features (polylines). It starts with an initial alignment of the corresponding polylines.

  • Decomposition into an overlapping part, 'head' and 'tail'
  • Alignment minimizing the differing area of two corresponding polylines. All scan's polylines are moved simoultanously to obtain the best overall displacement dX, dY, dR.
  • Weigthed modification of the overlapping part to harmonize polylines with each other


See the resulting map from 450 scans.