Map Merging with Suppositional Box for Multi-Robot Indoor Mapping

Round 1

Reviewer 1 Report

The paper presents a method to merge data from different robots to generate a map. Simulation and experimental results are presented.

Abstract: This can be improved to explain the terms so one can read this without specialized knowledge. For example, what is suppositional box?

Literature review. This can be be improved by not arranging ideas based on the authors (don't start with the author in the sentence), but rather by ideas.

Novelty. Please state the novelty in the intro or literature review

The first sentence of the intro and abstract claims efficiency of using multiple robots vs single robots. This point has not been touched again in the manuscript.

Eqn 4, Its odd to see symbols of two variables tx or ty. Instead use super or sub scripts. Also equations 10 and 11.

Eqn 8, How come the covariance is a diagonal matrix? Is this always true?

Figure 11 is color coded. Cannot read it if printed in black and white.

A discussion section which explains why the proposed algorithm beats other approaches would be nice to have.

 

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

The article constitutes an interesting work related to Map merging for Multi-robot Indoor Mapping. I have the following comments:

• In the experimental results section, It is verified the reduction in errors with Kalman Filter in the matching process. Apart from figure 8, Can you provide any statistical index in order to quantify the improvement in this figure?

Minor typing mistakes:

• In the related works section, in line 76 change “Reid Simmons” et al. to “Reid Simmons et al. [2]”. Do the same for the rest references of this section.
• In line 126, change “Afte” to “After”.
• In line 170, change “M. T. Laza’ro”to “MT Lázaro”.
• In line 186, indicate a reference for the <Hough transform.
• In figure 3 the caption of the figure is too large, put this in the text.
• In line 236, indicate a reference for the Newton method.
• In line 353 change “choose” to “chosen”
• In line 414, indicate a reference for Gazebo.
• In line 450, the phrase “orthogonal frame of suppositional box and map is same” is badly expressed, rewrite it.
• In line 457, the phrase “we test our method in scenes where orthogonal frame of suppositional box and map is not same” is badly expressed, rewrite it.
• In line 526, indicate references for SURF and ORB. SURF and ORB.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 3 Report

This paper is concerned with a map merging method based on a suppositional box approach applied to multi-robot collaborative mapping. The robustness of the authors proposed approach was assessed based on simulation and real experiments and a critical analysis of the results obtained is also included. An appropriated survey of published material related with the paper’s topic is also included. The paper is well structured making a suitable balance between the theoretical stuff needed to understand the authors’ proposed approach and the case studies description and analysis. Thus, in the reviewer opinion the paper is recommendable for publication subject to minor changes according to the following comments:

• When an acronym is used for the first time, it should be written for what it stands;
• Throughout the paper there are few errors (ex. “Afte”), grammar errors and missing spaces between the punctuation and the following word. All of them should be corrected;
• Authors should be mentioned in the text using only the corresponding surname;
• The are Figures with a very long caption. Such captions should be shortened, and the figure critical analysis moved to the text.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf