计算机工程2018，Vol.44Issue(1)：23-29,7.DOI:10.3969/j.issn.1000-3428.2018.01.004
基于改进直线特征提取算法的室内移动机器人地图构建
Indoor Mobile Robot Map Construction Based on Improved Linear Feature Extraction Algorithm
摘要
Abstract
In order to make the indoor mobile robot better build the accurate map from the data of 2D laser range finder with noise,an improved algorithm based on similar triangules denoising rule is proposed.Using the splitting algorithm to extract the rough line set from the preprocessing data,the data points between the two split points are denoised by improving the similar triangules denoising rule,and the denoised data are re-split,and scanning points are fitted in the data between each two split points by least square method.Experimental results show that the proposed algorithm can reduce the number of effective points which are eliminated,and the accuracy and false positive indexes are better than similar triangles denoising method and traditional split and mergeing algorithm,at the same time,the line segment merging process is basically avoided,and the robustness and accuracy of environment modeling are enhanced.关键词
移动机器人/2D激光测距仪/直线特征提取/去噪法则/最小二乘法Key words
mobile robot/2D laser range finder/linear feature extraction/denoising rule/least square method分类
信息技术与安全科学引用本文复制引用
简明,唐墨臻,张翠芳,闫飞..基于改进直线特征提取算法的室内移动机器人地图构建[J].计算机工程,2018,44(1):23-29,7.基金项目
国家自然科学基金重点项目(61134002/F03) （61134002/F03）
国家自然科学基金(61403316) （61403316）
四川省科技支撑计划项目(2016GZ0101). （2016GZ0101）
