A mapping method based on EKF and point-segment matching for indoor environment

A map construction method based on point-segment (PS) feature with laser scanner is presented in this paper to accomplish the indoor mobile robot SLAM. The preprocessed sensor data is divided into objective set through dynamic threshold segmentation. To fit the feature, improved Hough-transform is adopted to pick out the short segments from the objective set and an incorporating method is applied to merge the segments belonging to the same feature set. Then, a segment phase matching method is used to establish the global map, during which the EKF along with the matching technique is employed to estimate the optimal pose. Finally, experiment is implemented on the robot ATR1 in the given environment. Though the robot deviated from its planning path up to -177.38mm in Y-direction and 124.56mm in X-direction, the constructed map still shows the rationality and effectiveness of the method.