Title :
A SLAM method based on memory database of the features
Author :
He, Zhendong ; Liu, Jie ; Cui, Guangzhao ; Guo, Jinchao ; Yao, Lina
Author_Institution :
Coll. of Electr. & Inf. Eng., Zhengzhou Univ. of Light Ind., Zhengzhou
Abstract :
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.
Keywords :
curve fitting; feature extraction; least squares approximations; mobile robots; robot vision; advanced least square fitting; geometric features; memory database; mobile robot; natural landmarks; scan matching; simultaneous Mapping; simultaneous localization; Educational institutions; Feature extraction; Mobile robots; Robot kinematics; Robot localization; Sampling methods; Simultaneous localization and mapping; Spatial databases; Uncertainty; Wheels; Geometric Features in Environment; Laser Range Scanner; Memory Database of the Features; Robot Localization; Scan Matching;
Conference_Titel :
Control and Decision Conference, 2008. CCDC 2008. Chinese
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-1733-9
Electronic_ISBN :
978-1-4244-1734-6
DOI :
10.1109/CCDC.2008.4597715
