This paper presents an implementation of the local maps fusion concept for the simultaneous localization and mapping (SLAM) problem within the extended Kalman filter (EKF) framework. Several problems never addressed before, arise while implementing the solution for indoor environments, and are successfully solved to obtain maps of quite large real indoor environments with more than one robot in real time.
['Diego Rodriguez-Losada', 'Fernando Matía', 'Agustín Jiménez']
Local maps fusion for real time multirobot indoor simultaneous localization and mapping