Sub-map matching algorithm based on signature vector and landmark localization
Xuefeng Dai · Computer Engineering and Science · 2013
Because of the computational complexity in the signature element based local sub-map matching for hierarchical Simultaneous Localization and Mapping (SLAM) algorithm, a signature vector based matching approach was proposed in this paper. Since there may be a difference between the two trajectories that the robot passed the same sub-region at first time and at second time, the approach was improved by combining a landmark localization technique to realize more reliable loop closing calculation. In addition, the constraints equation was discussed for the case that two or more closed loops share a common sub-path for obtaining a global optimized map of the environment. Finally, a demonstration case was given to show the application of our approach.