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

fYear

2008

fDate

2-4 July 2008

Firstpage

2205

Lastpage

2210

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CCDC.2008.4597715

Filename

4597715