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 , 900 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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