Title :
A SLAM method based on memory database of the features
Author :
Jie, Liu ; Zhendong, He ; Lumin, Chen
Author_Institution :
Coll. of Mech. & Electr. Eng., Zhengzhou Univ. of Light Ind., Zhengzhou
Abstract :
A method for simultaneous localization and map 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 valid to dynamic environment. Meanwhile, the belief is imported to reduce the result errors caused by the uncertainty of the sensors. the experiments on mobile robot proved the validity and accuracy.
Keywords :
SLAM (robots); control engineering computing; least squares approximations; mobile robots; sensors; storage management; SLAM method; advanced least square fitting; memory database; mobile robot; simultaneous localization and map; Data engineering; Data mining; Educational institutions; Feature extraction; Helium; Laser modes; Matched filters; Simultaneous localization and mapping; Solid modeling; Spatial databases; Geometric features in environment; Laser range scanner; Memory database of the features; Robot localization; Scan matching;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605344
