1P1-I07 A New Algorithm to Detect Lines in Noisy Environment for Indoor Robot Mapping(Localization and Mapping (2))

抄録

In this paper, we propose a new algorithm based on Hough Transform for making 2D maps in an indoor environment. The proposed method works in two stages. The first stage involves applying clustering on laser range sensor data. The second step involves applying Hough Transform on the clustered data. We show that the proposed method works efficiently in noisy environment and generates accurate maps.