@inproceedings{eb914d8bc6c244feaf5a96e38961aa9a,
title = "Graph-based SLAM in indoor environment using corner feature from laser sensor",
abstract = "SLAM (Simultaneous Localization And Mapping) is considered a fundamental problem for robots to become truly autonomous, and it is one of the most popular topic in the field of mobile robotics. When robot works in a unknown environment, it should estimate the current position relative to the environment and meanwhile estimate the environment. When both localization and mapping must be solved concurrently, the problem is called SLAM. SLAM can be implemented in many ways such the Particle Filter, Extended Kalman Filter and Graph-based solution. Currently, one of the most widely used algorithms to solve SLAM is Graph-based solution. In this paper we present a method for robot to calculate its accurate location in indoor environment using graph based optimization. We describe a way how to extract feature from laser range data and how to associate the features, and construct a robot pose graph when robot move in 2D environment. In the last of the paper, we present two simulated robot pose graph to compare the optimization result. The experimental results demonstrate our graph based optimization method is workable.",
keywords = "Graph optimization, Laser scan feature, Mobile robot, SLAM",
author = "Weiyang Lin and Jianjun Hu and Hong Xu and Chao Ye and Xiao Ye and Zhan Li",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017 ; Conference date: 19-05-2017 Through 21-05-2017",
year = "2017",
month = jun,
day = "30",
doi = "10.1109/YAC.2017.7967597",
language = "英语",
series = "Proceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1211--1216",
booktitle = "Proceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017",
address = "美国",
}