A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map

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<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M495 163l30 -6q-19 -99 -36 -157h-453v28q63 5 77.5 20t14.5 78v400q0 63 -13 77t-75 19v28h261v-28q-61 -5 -74.5 -19t-13.5 -77v-395q0 -41 5 -59t18 -25q24 -13 96 -13q85 0 112 31q30 33 51 98z" id="x4C"></path></g><g transform="matrix(.017,-0,0,-.017,9.208,11.113)"><path d="M861 0h-263v28q61 5 73 22t12 97l-4 408h-4l-244 -548h-20l-224 534h-2l-15 -285q-5 -98 -3 -166q1 -34 19.5 -45t72.5 -17v-28h-233v28q45 5 62.5 17t22.5 43q11 65 19 183l14 208q3 36 3.5 55t-2.5 37.5t-6.5 25t-16.5 13t-25.5 8t-39.5 4.5v28h164l228 -501l232 501
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</svg> by considering all the scan points.</table>

Journal of Robotics

fig10

Figure 10

Figure 10: A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map 