Research on robot location based on an improved method of map feature matching

摘要

With respect to robot self-positioning, this study reports that the map feature extraction algorithm based on Euclidean distance is improved, the processing of outliers and class division points in line segment landmark fitting is added, and the slope and intercept of the line are added. The aggregation step reduces the influence of class over-segmentation of the map feature extraction. According to RANSAC feature matching, a map matching method based on corner points and line segment landmarks is proposed.