A New Solution to SLAM Problem Based on Local Map Matching
DING Shuai-hua1, CHEN Xiong1, HAN Jian-da2
1. Intelligent Control Lab, Electronic Engineering Department, Fudan University, Shanghai 200433, China; 2. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
丁帅华, 陈雄, 韩建达. 基于局部子图匹配的SLAM方法[J]. 机器人, 2009, 31(4): 296-303..
DING Shuai-hua, CHEN Xiong, HAN Jian-da. A New Solution to SLAM Problem Based on Local Map Matching. ROBOT, 2009, 31(4): 296-303..
Abstract：For the kidnapped robot problem in which most current SLAM(simultaneous localization and map building) approaches are invalid,a new solution based on the matching of local sub-graphs is proposed.The presented approach improves the architecture of current SLAM problems,provides a new feature association algorithm based on optimized vertex matching,and introduces a singular value decomposition method into robot localization.In the end,the presented approach and the EKF(extended Kalman filtering) approach are compared in structured environment,and the discussion are made in the term of the feasibility and the effectiveness of this approach based on local sub-graph matching method for the kidnapped robot problem in structured environment.
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