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一种基于线特征的SLAM算法研究

韩锐,  李文锋

文章导航 > 自动化学报  > 2006 >  32(1): 43-46
韩锐, 李文锋. 一种基于线特征的SLAM算法研究. 自动化学报, 2006, 32(1): 43-46.
引用本文: 韩锐, 李文锋. 一种基于线特征的SLAM算法研究. 自动化学报, 2006, 32(1): 43-46.
shu
HAN Rui, LI Wen-Feng. Line-feature-based SLAM Algorithm. ACTA AUTOMATICA SINICA, 2006, 32(1): 43-46.
Citation: HAN Rui, LI Wen-Feng. Line-feature-based SLAM Algorithm. ACTA AUTOMATICA SINICA, 2006, 32(1): 43-46.
shu

一种基于线特征的SLAM算法研究

  • 1.

    Department of Logistic Engineering, Wuhan University of Technology, Wuhan 430063

详细信息
    通讯作者:

    韩锐

Line-feature-based SLAM Algorithm

  • 1.

    Department of Logistic Engineering, Wuhan University of Technology, Wuhan 430063

More Information
    Corresponding author: HAN Rui

    摘要
  • 摘要: A line-feature based SLAM algorithm is presented in this paper to resolve the conflict between the requirements of computational complexity and information-richness within the point-feature based SLAM algorithm, All operations required for building and maintaining the map, such as model-setting, data association, and state-updating, are described and formulated. This approach has been programmed and successfully tested in the simulation work, and results are shown at the end of this paper.
    Abstract: A line-feature based SLAM algorithm is presented in this paper to resolve the conflict between the requirements of computational complexity and information-richness within the point-feature based SLAM algorithm, All operations required for building and maintaining the map, such as model-setting, data association, and state-updating, are described and formulated. This approach has been programmed and successfully tested in the simulation work, and results are shown at the end of this paper.
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  • 收稿日期:  2005-05-23
  • 修回日期:  2005-10-19
  • 刊出日期:  2006-01-20

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