Assymetric Fusion of Heterogeneous Occupancy Grid Maps

There are multiple advantages that multi-robot mapping has over single robot mapping: faster exploration speed, higher redundancy, and a possibility to use multiple robots in the same mapping framework. However, merging when the maps are not homogeneous is a challenging problem. In this paper a map fusion method for heterogeneous occupancy grid maps is proposed that can fuse different resolution and quality maps by considering that the maps may have varying region quality and that the resulting maps must be separate for each robotic system.