A SLAM Method Based on Memory Database of the Features

被引：0
|
作者：
He, Zhendong [1 ]
Liu, Jie [2 ]
Cui, Guangzhao [1 ]
Guo, Jinchao [1 ]
Yao, Lina [1 ]
机构：
[1] Zhengzhou Univ Light Ind, Coll Elect & Informat Engn, Zhengzhou 450002, Peoples R China
[2] Zhengzhou Univ Light Ind, Coll Mech & Elect Engn, Zhengzhou 450002, Peoples R China
来源：
2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11 | 2008年
关键词：
Robot Localization; Laser Range Scanner; Scan Matching; Geometric Features in Environment; Memory Database of the Features;
D O I：
10.1109/CCDC.2008.4597715
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A method for simultaneous Localization and Mapping based on scan matching is presented according to memory database of the features. The steady geometric features are extracted as the natural landmarks according to advanced least square fitting, and the memory database of the features is created and updated for scan matching better. Therefore, it is also adapted to dynamic environment. Meanwhile, the credibility is introduced to reduce the result errors caused by the uncertainty of the sensors. The experiment on mobile robot proved the validity and accuracy of the proposed method.
引用
收藏
页码：2205 / 2210
页数：6
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