Adaptive line extraction algorithm for SLAM application

This paper proposes a modified split and merge algorithm for line extraction with high accuracy, efficient speed and low complexity. It is robust against measurement noises and demonstrates satisfactory results on different surfaces in determining line boundaries. The method is based on the least square equation to fit a line on a series of uncertain points. Different least square criterion is investigated to choose the best one for line extraction. A novel approach is proposed here to adopt threshold on different surfaces. Although the SLAM is not main goal of this paper, a feature based SLAM is implemented on a mobile rescue robot to observe the proposed line extraction performance, practically.