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

<table>The relationship of line <svg height="11.175" id="M33" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 9.8249998 11.175" width="9.8249998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M559 163q-23 -66 -68 -163h-474l6 26q62 4 79.5 19.5t28.5 75.5l78 409q7 35 8.5 49t-8 25t-24 13t-51.5 5l5 28h266l-6 -28q-65 -5 -79.5 -18t-25.5 -74l-76 -406q-10 -57 14 -75q12 -13 96 -13q93 0 126 29q41 40 76 109z" id="x1D43F"></path></g>
</svg> in two different spaces, where the black dots are the points that contains line <svg height="11.175" id="M34" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 9.8249998 11.175" width="9.8249998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M559 163q-23 -66 -68 -163h-474l6 26q62 4 79.5 19.5t28.5 75.5l78 409q7 35 8.5 49t-8 25t-24 13t-51.5 5l5 28h266l-6 -28q-65 -5 -79.5 -18t-25.5 -74l-76 -406q-10 -57 14 -75q12 -13 96 -13q93 0 126 29q41 40 76 109z" id="x1D43F"></path></g>
</svg>.</table>

Journal of Robotics

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Figure 3

Figure 3: A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map 