İç mekanlar için doğru parçası tabanlı mesafe taramalarının eşlenmesi

A mobile robot exploring an unknown environment often needs to keep track of its posethrough its sensors. Range scan matching is a way of computing the pose difference of arobot at two different locations on the navigation path by ? nding common features observedin range sensor readings recorded at these locations. In this thesis, we introduce a newalgorithm which computes this pose difference by matching common line segments extractedfrom two laser range scans taken from two different but unknown poses. In this algorithm,matching is performed by exploiting invariant geometric relations among line segments. Theuse of line segments instead of range points also reduces the computational complexity of determiningthe pose difference between two distinct scans. Compared to other scan matchingalgorithms, our method presents a powerful means for global scan matching, map building,place recognition, loop closing and multirobot mapping, all in real-time.