  We present a novel area matching algorithm for merging two different 2D grid
maps. There are many approaches to address this problem, nevertheless, most
previous work is built on some assumptions, such as rigid transformation, or
similar scale and modalities of two maps. In this work we propose a 2D map
matching algorithm based on area segmentation. We transfer general 2D occupancy
grid maps to an area graph representation, then compute the correct results by
voting in that space. In the experiments, we compare with a state-of-the-art
method applied to the matching of sensor maps with ground truth layout maps.
The experiment shows that our algorithm has a better performance on large-scale
maps and a faster computation speed.
