Scan Matching Based SLAM in Outdoor Environment

For the kidnapped robot problem in outdoor environment,a map matching based SLAM(simultaneous localization and mapping) solution is proposed.The odometer information is not involved in this method,and the robot localization is based on correlation between local and global maps.The core of the proposed method is multiple hypothesis data association. Singular value decomposition is also applied to robot pose calculation.The proposed method is compared with the EKF (extended Kalman filter) approach by Victoria Park dataset,and the experiment results prove the validity of the proposed method.