A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map
Joint Authors
Kuo, Bor-Woei
Huang, Shi-Yu
Chen, Yung-Chang
Chang, Hsun-Hao
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-06-08
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Simultaneous Localization and Mapping (SLAM) is an important technique for robotic system navigation.
Due to the high complexity of the algorithm, SLAM usually needs long computational time or large amount of memory to achieve accurate results.
In this paper, we present a lightweight Rao-Blackwellized particle filter- (RBPF-) based SLAM algorithm for indoor environments, which uses line segments extracted from the laser range finder as the fundamental map structure so as to reduce the memory usage.
Since most major structures of indoor environments are usually orthogonal to each other, we can also efficiently increase the accuracy and reduce the complexity of our algorithm by exploiting this orthogonal property of line segments, that is, we treat line segments that are parallel or perpendicular to each other in a special way when calculating the importance weight of each particle.
Experimental results shows that our work is capable of drawing maps in complex indoor environments, needing only very low amount of memory and much less computational time as compared to other grid map-based RBPF SLAM algorithms.
American Psychological Association (APA)
Kuo, Bor-Woei& Chang, Hsun-Hao& Chen, Yung-Chang& Huang, Shi-Yu. 2011. A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map. Journal of Robotics،Vol. 2011, no. 2011, pp.1-12.
https://search.emarefa.net/detail/BIM-458009
Modern Language Association (MLA)
Kuo, Bor-Woei…[et al.]. A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map. Journal of Robotics No. 2011 (2011), pp.1-12.
https://search.emarefa.net/detail/BIM-458009
American Medical Association (AMA)
Kuo, Bor-Woei& Chang, Hsun-Hao& Chen, Yung-Chang& Huang, Shi-Yu. A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map. Journal of Robotics. 2011. Vol. 2011, no. 2011, pp.1-12.
https://search.emarefa.net/detail/BIM-458009
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-458009