A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map.pdfVIP

Hindawi Publishing Corporation Journal of Robotics Volume 2011, Article ID 257852, 12 pages doi:10.1155/2011/257852 Research Article A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map Bor-Woei Kuo,1 Hsun-Hao Chang,1 Yung-Chang Chen,2 and Shi-Yu Huang3 1 Department of Electrical Engineering, National Tsing-Hua University 101, Section 2, Kuang-Fu Road, Hsinchu 30013, Taiwan 2 Department of Electrical Engineering, National Tsing-Hua University 720R, EECS Bldg, 101, Section 2, Kuang-Fu Road, Hsinchu 30013, Taiwan 3 Department of Electrical Engineering, National Tsing-Hua University 818, EECS Bldg, 101, Section 2, Kuang-Fu Road, Hsinchu 30013, Taiwan Correspondence should be addressed to Bor-Woei Kuo, bwkuo@.tw Received 19 January 2011; Accepted 15 March 2011 ¨ Academic Editor: Heinz Worn Copyright © 2011 Bor-Woei Kuo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Simultaneous Localization and Mapping (SLAM) is an important technique for robotic system navigation. Due to the high complexity of the algorithm, SLAM usually needs long computational time or large amount of memory to achieve accurate results. In this paper, we present a lightweight Rao-Blackwellized particle filter- (RBPF-) based SLAM algorithm for indoor environments, which uses line segments extracted from the laser range finder as the fundamental map structure so as to reduce the memory usage. Since most major structures of indoor environments are usually orthogonal to each other, we can also efficiently increase the accuracy and reduce