Practical feature-based simultaneous localization and mapping using sonar data

He Feng, Fang Yongchun, Wang Yutao, Ban Tao
2008 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. To
more » ... employed. To illustrate the performance of the proposed algorithm, experiment results on a Pioneer mobile robot are provided, which demonstrate that the constructed SLAM technique exhibits superior practicality and simplicity.
doi:10.1109/chicc.2008.4605579 fatcat:wr4ngr7dbbdsxlcc4lsycipacy