{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T11:51:21Z","timestamp":1770292281149,"version":"3.49.0"},"reference-count":21,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2011,6,6]],"date-time":"2011-06-06T00:00:00Z","timestamp":1307318400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2012,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper addresses the map merging problem, which is the most important issue in multi-robot simultaneous localization and mapping (SLAM) using the Rao\u2013Blackwellized particle filter (RBPF-SLAM) with unknown initial poses. The map merging is performed using the map transformation matrix and the pair of map merging bases (MMBs) of the robots. However, it is difficult to find appropriate MMBs because each robot pose is estimated under multi-hypothesis in the RBPF-SLAM. In this paper, probabilistic map merging (PMM) using the Gaussian process is proposed to solve the problem. The performance of PMM was verified by reducing errors in the merged map with computer simulations and real experiments.<\/jats:p>","DOI":"10.1017\/s026357471100049x","type":"journal-article","created":{"date-parts":[[2011,6,6]],"date-time":"2011-06-06T09:54:38Z","timestamp":1307354078000},"page":"205-220","source":"Crossref","is-referenced-by-count":48,"title":["Probabilistic map merging for multi-robot RBPF-SLAM with unknown initial poses"],"prefix":"10.1017","volume":"30","author":[{"given":"Heon-Cheol","family":"Lee","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seung-Hwan","family":"Lee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Myoung Hwan","family":"Choi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Beom-Hee","family":"Lee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2011,6,6]]},"reference":[{"key":"S026357471100049X_ref15","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Burguera","year":"2007"},{"key":"S026357471100049X_ref1","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Montemerlo","year":"2003"},{"key":"S026357471100049X_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.06.008"},{"key":"S026357471100049X_ref7","volume-title":"Proceedings of the International Symposium of Robotics Research","author":"Thrun","year":"2003"},{"key":"S026357471100049X_ref9","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Howard","year":"2004"},{"key":"S026357471100049X_ref8","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Konolige","year":"2003"},{"key":"S026357471100049X_ref13","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Bailey","year":"2006"},{"key":"S026357471100049X_ref4","volume-title":"Proceedings of the International Conference on Ubiquitous Robots and Ambient Intelligence","author":"Lee","year":"2008"},{"key":"S026357471100049X_ref10","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Chang","year":"2007"},{"key":"S026357471100049X_ref14","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Montesano","year":"2005"},{"key":"S026357471100049X_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006251"},{"key":"S026357471100049X_ref16","volume-title":"Probabilistic Robotics","author":"Thrun","year":"2005"},{"key":"S026357471100049X_ref19","first-page":"305","article-title":"A practical FastSLAM implementation method using an infrared camera for indoor environments","volume":"14","author":"Zhang","year":"2009","journal-title":"J. Korea Robot. Soc."},{"key":"S026357471100049X_ref20","doi-asserted-by":"publisher","DOI":"10.1163\/016918610X487126"},{"key":"S026357471100049X_ref18","unstructured":"18. Jeong W. Y. and Lee K. M. , \u201cCV-SLAM: A New Ceiling Vision-Based SLAM Technique,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (Aug. 2005) pp. 3195\u20133200."},{"key":"S026357471100049X_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072515"},{"key":"S026357471100049X_ref12","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708005250"},{"key":"S026357471100049X_ref11","volume-title":"Proceedings of the International Conference on Control, Automation and Systems","author":"Kwak","year":"2008"},{"key":"S026357471100049X_ref3","volume-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","author":"Zhou","year":"2006"},{"key":"S026357471100049X_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072250"},{"key":"S026357471100049X_ref21","volume-title":"Man and Cybernetics","author":"Lee","year":"2009"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357471100049X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,26]],"date-time":"2019-04-26T00:50:09Z","timestamp":1556239809000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357471100049X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,6,6]]},"references-count":21,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2012,3]]}},"alternative-id":["S026357471100049X"],"URL":"https:\/\/doi.org\/10.1017\/s026357471100049x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,6,6]]}}}