吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (04): 1035-1044.doi: 10.7964/jdxbgxb201304031

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Rescue robot simultaneous localization and mapping based on extraction and matching of line features

LIU Shao-gang1, GUO Yun-long1, JIA He-ming2   

  1. 1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;
    2. College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China
  • Received:2012-05-07 Online:2013-07-01 Published:2013-07-01

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Abstract:

To solve the problem of simultaneous localization and mapping by rescue robot in line feature post-disaster environment, an improved dynamic threshold algorithm is proposed based on the split-and-merge principle. Compared with the fixed threshold method, the proposed method improves the accuracy of straight line fitting. The parameters of matching conditions and state matrix are deduced. Mismatching problem can be solved by calculating and comparing the distance between initial point and end point, thus improving the accuracy of line feature matching. On this basis, global location calculation is carried out and least square filter is employed to improve accuracy of location. The simulation and experiment demonstrate that the proposed method has high accuracy to reflect the actual terrain environment and the ability of real-time mapping.

Key words: automatic control technology, search and rescue after disaster, robot, simultaneous localization and mapping, feature extraction, feature line matching

CLC Number: 

  • TP24

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