Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Arc/Line Segments-based SLAM by Updating Accumulated Sensor Data

누적 센서 데이터 갱신을 이용한 아크/라인 세그먼트 기반 SLAM

  • 염서군 (한양대학교 메카트로닉스공학과) ;
  • 최윤성 (한양대학교 기계공학과) ;
  • 무경 (한양대학교 메카트로닉스공학과) ;
  • 한창수 (한양대학교 로봇공학과)
  • Received : 2014.12.31
  • Accepted : 2015.09.17
  • Published : 2015.10.01
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Abstract

This paper presents arc/line segments-based Simultaneous Localization and Mapping (SLAM) by updating accumulated laser sensor data with a mobile robot moving in an unknown environment. For each scan, the sensor data in the set are stored by a small constant number of parameters that can recover the necessary information contained in the raw data of the group. The arc and line segments are then extracted according to different limit values, but based on the same parameters. If two segments, whether they are homogenous features or not, from two scans are matched successfully, the new segment is extracted from the union set with combined data information obtained by means of summing the equivalent parameters of these two sets, not combining the features directly. The covariance matrixes of the segments are also updated and calculated synchronously employing the same parameters. The experiment results obtained in an irregular indoor environment show the good performance of the proposed method.

Keywords

References

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