A relative map filter using linear invariant measurements

In this paper, a new relative map algorithm is presented. The algorithm extracts linear invariant measurements from original laser scan data and uses an information filter to update the absolute map. The algorithm avoids the procedure of building the relative map, which is a basic procedure in other relative map algorithms. This improvement makes the new algorithm avoid the problem of inconsistency, which is inherent in other relative map algorithms. The requirements of computation and memory of this algorithm are linear over the size of the map, which are the same as RMGF. However, our algorithm has a simpler structure and performs faster. Experimental result on a simulated map demonstrates the advantages of our algorithm.