2018
Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer
RA-L 2018
We propose a method based on a nonlinear transformation for nonrigid alignment of maps of different modalities, exemplified with matching partial and deformed two-dimensional maps to layout maps. For two types of indoor environments, over a dataset of 40 maps, we have compared the method to state-of