The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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EKF-based Simultaneous Localization and Mapping of Mobile Robot using Laser Corner Pattern Matching

레이저 코너 패턴의 매칭을 이용한 이동 로봇의 EKF 기반 SLAM

  • Kim, Tae-Hyeong (Dept. of Control and Robot Engineering, Chungbuk National University) ;
  • Park, Tae-Hyoung (Dept. of Electronics Engineering, Chungbuk National University)
  • Received : 2016.07.18
  • Accepted : 2016.10.28
  • Published : 2016.12.01
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Abstract

In this paper, we propose an extended Kalman filter(EKF)-based simultaneous localization and mapping(SLAM) method using laser corner pattern matching for mobile robots. SLAM is one of the most important problems of mobile robot. However, existing method has the disadvantage of increasing the computation time, depending on the number of landmarks. To improve computation time, we produce the corner pattern using classified and detected corner points. After producing the corner patterns, it is estimated that mobile robot's global position by matching them. The estimated position is used as measurement model in the EKF. To evaluated proposed method, we preformed the experiments in the indoor environments. Experimental results of proposed method are shown to maintain an accuracy and decrease the computation time.

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References

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