Feature extension and matching for mobile robot global localization

• 作 者: Peng Wang Qibin Zhang Zonghai
• 机 构: DepartmentofAutomation
• 出 处: 系统工程与电子技术：英文版
• 发表日期: 2015年4期
• 关键词: 移动机器人 全局定位 匹配率 特征 室内环境 全球定位 地图集 定位方法 feature extension global localization fea
• 基金项目: This work was supported by the National Natural Science Foundation of China （61375079）.

This paper introduces an indoor global localization method by extending and matching features. In the proposed method, the environment is partitioned into convex subdivisions.Local extended maps of the subdivisions are then built by extending features to