Point-to-line feature-based SLAM map building algorithm

Release time:2021-03-15 Hits:

Key Words:Robotics;MATLAB;Feature detection - Information expression - Information richness - Map Building - Outdoor environment - Point features - Simultaneous localization and mapping - SLAM algorithm

Abstract:As there is a conflict between the requirements of computational complexity and information-richness within the point-feature based SLAM algorithm in outdoor environment, a point-to-line feature-based SLAM map building algorithm is presented in this paper. The tree information is sampled as point feature which is matched as line feature using math methods and associated to the map using the probability scheme. It is a new method to express the outdoor environment. A robust H<inf>&infin;</inf>filter has been used to simulate the feasibility of the algorithm with MATLAB, the result shows that the algorithm can reduce the complexity of the information expression, which establishes the foundation for vehicle experimentation.<br/>

Volume:41

Issue:1

Translation or Not:no