• 中国计算机学会会刊
  • 中国科技核心期刊
  • 中文核心期刊

J4 ›› 2013, Vol. 35 ›› Issue (6): 148-151.

• 论文 • Previous Articles     Next Articles

Sub-map matching algorithm based on
signature vector and landmark localization       

YAO Zhifeng1,2,YE Xiufen1,DAI Xuefeng2   

  1. (1.College of Automation,Harbin Engineering University,Harbin 150001;
    2.College of Computer and Control Engineering,Qiqihar University,Qiqihar 161006,China)
  • Received:2012-05-18 Revised:2012-08-17 Online:2013-06-25 Published:2013-06-25

Abstract:

Because of the computational complexity in the signature element based local submap matching for hierarchical Simultaneous Localization and Mapping (SLAM) algorithm, a signature vector based matching approach was proposed in this paper. Since there may be a difference between the two trajectories that the robot passed the same subregion at first time and at second time, the approach was improved by combining a landmark localization technique to realize more reliable loop closing calculation. In addition, the constraints equation was discussed for the case that two or more closed loops share a common subpath for obtaining a global optimized map of the environment. Finally, a demonstration case was given to show the application of our approach.

Key words: sub-map matching;simultaneous localization and mapping;landmark;signature vector