Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Collaborative Localization of Aerial and Ground Mobile Robots through
  Orthomosaic Map   With the deepening of research on the SLAM system, the possibility of
cooperative SLAM with multi-robots has been proposed. This paper presents a map
matching and localization approach considering the cooperative SLAM of an
aerial-ground system. The proposed approach aims to help precisely matching the
map constructed by two independent systems that have large scale variance of
viewpoints of the same route and eventually enables the ground mobile robot to
localize itself in the global map given by the drone. It contains dense mapping
with Elevation Map and software "Metashape", map matching with a proposed
template matching algorithm, weighted normalized cross-correlation (WNCC) and
localization with particle filter. The approach enables map matching for
cooperative SLAM with the feasibility of multiple scene sensors, varies from
stereo cameras to lidars, and is insensitive to the synchronization of the two
systems. We demonstrate the accuracy, robustness, and the speed of the approach
under experiments of the Aero-Ground Dataset.

34
The categories of this paper are: chem-ph
3
The categories of this paper are: physics
21
The categories of this paper are: adap-org
13
The categories of this paper are: quant-ph
32
The categories of this paper are: atom-ph
25
The categories of this paper are: patt-sol
33
The categories of this paper are: plasm-ph
0
The categories of this paper are: hep-ph
17
The categories of this paper are: q-fin
15
The categories of this paper are: nucl-ex
27
The categories of this paper are: comp-gas
22
The categories of this paper are: chao-dyn
16
The categories of this paper are: stat
14
The categories of this paper are: math-ph
4
The categories of this paper are: cond-mat
11
The categories of this paper are: hep-lat