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2008 27th Chinese Control Conference
A practical feature-based SLAM is proposed for applications in indoor environment using sonar data. Line features are extracted from groups of sonar data using hybrid Hough Transform and Least Square (HTLS) algorithm. To meet the realtime requirement, an efficient implementation of HTLS algorithm based on slide window is introduced. Besides, the standard formulation of EKF-SLAM is extended to 2D-line case where the practical plant and observation model is constructed and then employed. Todoi:10.1109/chicc.2008.4605579 fatcat:wr4ngr7dbbdsxlcc4lsycipacy