学术论文

      一种基于线特征的SLAM算法研究

      Line-feature-based SLAM Algorithm

      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.
      作者: 韩锐 李文锋
      Author: HAN Rui LI Wen-Feng
      作者单位: Department of Logistic Engineering, Wuhan University of Technology, Wuhan 430063
      刊 名: 自动化学报 ISTICEIPKU
      年,卷(期): 2006, 32(1)
      分类号: TP2
      机标分类号: TP7 TP3
      在线出版日期: 2006年3月23日
      基金项目: the National Natural Science Foundation of China