A robust, resource-efficient, distributed, and minimally parameterized 3D map matching and merging algorithm is proposed. The suggested algorithm utilizes tomographic features from 2D projections of horizontal cross-sections of gravity-aligned local maps, and matches these projection slices at all possible height differences, enabling the estimation of four degrees of freedom in an efficient and parallelizable manner. The advocated algorithm improves state-of-the-art feature extraction and registration pipelines by an order of magnitude in memory use and execution time. Experimental studies are offered to investigate the efficiency of this 3D map merging scheme.

翻译：本文提出了一种鲁棒、资源高效、分布式且参数极简的三维地图匹配与融合算法。该算法利用重力对齐局部地图水平截面的二维投影所提取的层析特征，并在所有可能的高度差上匹配这些投影切片，从而能够以高效且可并行化的方式估计四个自由度。所提出的算法在内存占用与执行时间上，将现有最先进的特征提取与配准流程提升了一个数量级。本文通过实验研究验证了该三维地图融合方案的高效性。