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

<table>Illustrates the perpendicular distance <svg height="16.3125" id="M173" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 11.0375 16.3125" width="11.0375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
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</svg> and <svg height="16.3125" id="M174" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 11.0375 16.3125" width="11.0375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
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</svg> from the terminal points in the overlap section to the opposite line.</table>

Journal of Robotics

fig11

Figure 11

Figure 11: A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map 