一种基于线特征的SLAM算法研究

？Aline-featurebasedSLAMalgorithmispresentedinthispapertoresolvetheconflictbetweentherequirementsofcomputationalcomplexityandinformation-richnesswithinthepoint-featurebasedSLAMalgorithm,Alloperationsrequiredforbuildingandmaintainingthemap,suchasmodel-setting,dataassociation,andstate-updating,aredescribedandformulated.Thisapproachhasbeenprogrammedandsuccessfullytestedinthesimulationwork,andresultsareshownattheendofthispaper.