Corresponding segment is utilized the present invention provides a kind of, when the method for the similitude between measurement line segment, even if the point for expressing corresponding line segment moving distance replaces the angle of rotation when the method for obtaining corresponding line segment in each line segment, it obtains in the dynamic environment of the similitude between line segment, even if the presence of the robot location of sensor error and error. The present invention provides a kind of line match methods. Use the method for cash two stage cultivation: input detecting step (S10) receives the detection Line segment detection of information, passes through the one or more input line segments of detection and an environment; Calculating parallax is similar to the input (S10) detected in line segment detecting step is detected with the comparison input line part in similarity measure step (S20). ;The 2016 of copyright KIPO submissions
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