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Oriented to meet the needs of environmental modeling of indoor service robots and to facilitate the indoor environmental feature extraction, this paper proposes an indoor feature fusion approach through which the problem of the stability of the environmental feature identification is solved, and the feature map is simplified. In this approach, we first fit the segment feature and the circle feature...
Considering stability problems of the current corridor recognition algorithm based on laser scanner, this paper proposes a method for mobile robot fast laser-based corridor recognition. Firstly, Median filter is used to deal with the laser scan to reduce the noise. Then, it employs segmentation method to cluster the data to remove some isolated points. After that, it is feasible to calculate the direction...
This paper proposes efficient approach for mobile robots mapping in dynamic indoor environment based on artificial landmarks. Consider, real indoor environment in which nonstructural factors and dynamic objects may be built hybrid model. In this paper, topological map is built based on square root unscented Kalman filter that improving estimation accuracy of conventional SLAM. An efficient strategy...
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