Title :
Adaptive line extraction algorithm for SLAM application
Author :
Yaghobi, M. ; Jadaliha, M. ; Zolghadr, J. ; Norouzi, M.
Author_Institution :
Electr. & Comput. Eng. Dept., Islamic Azad Univ., Qazvin
Abstract :
This paper proposes a modified split and merge algorithm for line extraction with high accuracy, efficient speed and low complexity. It is robust against measurement noises and demonstrates satisfactory results on different surfaces in determining line boundaries. The method is based on the least square equation to fit a line on a series of uncertain points. Different least square criterion is investigated to choose the best one for line extraction. A novel approach is proposed here to adopt threshold on different surfaces. Although the SLAM is not main goal of this paper, a feature based SLAM is implemented on a mobile rescue robot to observe the proposed line extraction performance, practically.
Keywords :
SLAM (robots); least squares approximations; mobile robots; noise measurement; SLAM application; adaptive line extraction algorithm; least square criterion; least square equation; line boundary; measurement noises; mobile rescue robot; split and merge algorithm; Acoustic noise; Data mining; Laboratories; Least squares methods; Mechatronics; Mobile robots; Noise robustness; Simultaneous localization and mapping; Surface fitting; Working environment noise; Adaptive parameter estimation; Least square; Line extracting; SLAM;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913283