다중 소형 로봇 시스템에서 효율적 환경 정보 융합을 위한 객체 중심 스펙트럼 매칭 기법 = Object-Centered Spectral Matching for Efficient Environmental Information Fusion in Multiple Small Robot Systems

다국어 초록 (Multilingual Abstract)

This paper proposes an efficient method for fusing environmental information collected independently by each robot in a multi-robot system. Due to the small size of the robots, high-performance sensors with limited power cannot be used, and low-performance sensors must be used. The data from these sensors are fused to collect the locations of multiple objects. The collected information is exchanged between the robots through a mesh network, and the optimal rotation between the two environmental information is estimated using the Hough transform and the object-centered spectral matching method. Comparing the two methods in scenarios with equal or different amounts of data, the object-centered spectral matching method shows faster computation time and higher accuracy.

참고문헌 (Reference)

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