Title: Research on robot location based on an improved method of map feature matching

Authors: Limin Mao; Yuhuan Pu; Liangyu Wang

Addresses: College of Electrical and Automation Engineering, Changshu Institute of Technology, Changshu, Suzhou, Jiangsu, China ' College of Electrical and Automation Engineering, Changshu Institute of Technology, Changshu, Suzhou, Jiangsu, China ' College of Electrical and Automation Engineering, Changshu Institute of Technology, Changshu, Suzhou, Jiangsu, China

Abstract: With respect to robot self-positioning, this study reports that the map feature extraction algorithm based on Euclidean distance is improved, the processing of outliers and class division points in line segment landmark fitting is added, and the slope and intercept of the line are added. The aggregation step reduces the influence of class over-segmentation of the map feature extraction. According to RANSAC feature matching, a map matching method based on corner points and line segment landmarks is proposed.

Keywords: straight line fitting; map feature matching; data point classification; feature extraction; line landmark.

DOI: 10.1504/IJCAT.2019.103299

International Journal of Computer Applications in Technology, 2019 Vol.61 No.4, pp.332 - 338

Received: 26 Jan 2019
Accepted: 07 Mar 2019
Published online: 25 Oct 2019 *

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