| 一种基于线特征的SLAM算法研究 |
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| 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. |
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| 作者姓名： | 韩锐 李文锋 |
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| 作者单位： | 1.Department of Logistic Engineering, Wuhan University of Technology, Wuhan 430063 |
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| 基金项目： | Supported by National Natural Science Foundation of P. R. China （60475031） |
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| 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.
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| 关 键 词： | Line-feature SLAM algorithm |
| 收稿时间： | 2005-05-23 |
| 修稿时间： | 2005-10-19 |
Line-feature-based SLAM Algorithm |
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| HAN Rui, LI Wen-Feng. Line-feature-based SLAM Algorithm. ACTA AUTOMATICA SINICA, 2006, 32(1): 43-46. |
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| Authors: | HAN Rui LI Wen-Feng |
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| Affiliation: | 1. Department of Logistic Engineering, Wuhan University of Technology, Wuhan 430063 |
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| 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 pointfeature 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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| Keywords: | Line-feature SLAM algorithm |
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