]> 2026-04-04T15:42:03+02:00 Publications:2D Map Alignment With Region Decomposition 500 en <p>In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information in both maps, the robot must find the correct alignment between the two maps. There exist many approaches to address this challenge, however, most of the previous methods rely on assumptions such as similar modalities of the maps, same scale, or existence of an initial guess for the alignment. In this work we propose a decomposition-based method for 2D spatial map alignment which does not rely on those assumptions. Our proposed method is validated and compared with other approaches, including generic data association approaches and map alignment algorithms. Real world examples of four different environments with thirty six sensor maps and four layout maps are used for this analysis. The maps, along with an implementation of the method, are made publicly available online.</p> http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:1203632 Autonomous Robots Journal Paper 2D Map Alignment With Region Decomposition 2018 2018-05-04T20:22:33Z 2458243.3489931 2D Map Alignment With Region Decomposition 500 0 plainlist list 1 [[:Publications:2D Map Alignment With Region Decomposition]] 2D Map Alignment With Region Decomposition# QUERY6f306e26bed21304be59884d3c5b702d 500 [2,"smw-datavalue-property-restricted-annotation-use","Publisher"] 2D Map Alignment With Region Decomposition# ERR6c155b5d70b69ddb590b4f2e73389c2a 500 [2,"smw-datavalue-property-restricted-annotation-use","Author"] 2D Map Alignment With Region Decomposition# ERRe24f17e090c98448f3de99d03182b7b6