Heuristic-based multi-robot SLAM map fusion method

The invention relates to a heuristic-based multi-robot SLAM map fusion method. The invention relates to the technical field of image fusion, and the method comprises the steps: collecting the surrounding environment information of each robot, and constructing a local map according to the environment information; according to the constructed local map fusion, synthesizing a global map through plane transformation change; determining a fusion effect; determining a fusion effect according to the synthesized global map; optimizing the unaligned parts in the fused global map, and obtaining an optimized global map; and judging the proportion of the alignment part of the optimized global map, and judging the performance of the optimization method. The method can be used for robot map construction, and is especially suitable for multi-robot map construction and fusion in a complex environment. 本发明是一种基于启发式的多机器人SLAM地图融合的方法。本发明涉及图像融合技术领域，本发明采集各个机器人的周围环境信息，根据环境信息构建局部地图；根据构建的局部地图融，通过平面变换变化合成全局地图；并确定融合效果；根据合成后的全局地图，确定融合效果；