A Hough-based method for concurrent mapping and localization in indoor environments

This paper proposes a method to solve the simultaneous localization and map building problem based on segments extracted from local sonar based occupation maps. These segments are categorized as new obstacle boundaries of a simultaneously built global segment-based map or as prolongations of previously extracted boundaries. The method is adequate for indoor office-like environments, specially for those environments that can be suitable modelled by a set of segments. The method has been proved in several experiments in the same indoor environment with successful results.