SLAM在室内环境中的线段提取方法 - Something TO DO
SLAM在室内环境中的线段提取方法
Something TO DO
posted @ 2017年9月29日 16:40
in math
with tags
SLAM，Line Extraction
, 929 阅读
参考文献：
Nguyen V, Martinelli A, Tomatis N, et al. A comparison of line extraction algorithms using 2D laser rangefinder for indoor mobile robotics[C]// Ieee/rsj International Conference on Intelligent Robots and Systems. IEEE, 2005:97-111.
1，分割聚合方法
伪代码：
1)，初始化：将\(N\)个点作为一个集合\(s_1\)，并将集合\(s_1\)放入一个列表\(\mathcal{L}\)中
2)，将列表\(\mathcal{L}\)中的一个集合\(s_i\)拟合为一条线
3)，计算并得到集合\(s_i\)中离拟合直线最远的点\(P\)的距离集合\(d_P\)
4)，如果集合\(d_P\)小于一个既定阈值，进入步骤2
5)，否则，将集合\(s_i\)在\(P\)点处分割为\(s_{i1}\)和\(s_{i2}\)两个子集，并将\(\mathcal{L}\)列表中的集合\(s_i\)用\(s_{i1}\)和\(s_{i2}\)代替，进入步骤2
6)，当集合\(\mathcal{L}\)中的所有集合都遍历一遍后，合并共线的部分。
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