A Global Line Matching algorithm for 2D laser scan matching in regular environment

Some line matching algorithms have been proposed for the laser scan matching problem. But lots of them do the matching between current scan frame and the last one, rather than current frame and the global map. This work proposes a real-time laser scan matching method named Global Line Matching, which matches current scan frame to the global map, leading to a better result. This paper presents the algorithm in detail and shows some applications based on simultaneous localization and mapping (SLAM). Results on a simulated environment (USARSim [1]) are demonstrated, showing that this algorithm is capable of mapping unmodified indoor environment reliably.