Line matching localization and map building with least square

We introduce a very fast and robust localization and 2D environment representation algorithm in this paper. This innovative method matches lines extracted from the LASER range finder distance data with the lines that construct the map, in order to calculate the local translation and rotation. This matching is done with a simple least square with no iterations. The algorithm is suitable for any indoor environment with mostly polygonal structure and has proven high speed and robustness in the experimental tests on our innovatively designed tracked mobile rescue robot “Silver”. One experimental test is presented in the last section of this paper where the outputs are presented. These outputs are: 1-drift free raster map made of points and 2- A gallery of lines providing a linear ground truth.