Feature-Based Occupancy Map-Merging for Collaborative SLAM

Given two overlapping 2D occupancy grid maps, the map-fusion algorithm establishes an association between the individual maps and fuses them to construct a global map of the environment. This repo presents a map fusion approach based on image key points implemented in Matlab. The figure below gives an overview.

About the implementation:

• This is a simple Matlab implementation that requires Matlab's Computer Vision Toolbox.
• The code is only for demonstration; some parts may be inefficient.
• To get started, just run:

Occupancy-Grid-Map-Fusion/mapFusionMAIN.m

For more details, please refer to the MDPI journal.