An Active Loop Closure Fast SLAM Method Base on Topology – Section Lines Cascading Map

Abstract

Aim to the loop closure problems of mobile robots SLAM, a building mix cascading map approach base on topology-line segment feature is presented, and also an active loop closure Fast SLAM approach is proposed by using segments types of the section lines to form active loop closure tactics. According to topology nodes‘s relationship detect loop closure, and use a reverse movement model for optimization and modification to improve the accuracy and map consistency of robot’s localization. Experiment results show that the approach can well detect loop closure and reduce accumulated errors, and the robot’s localization accuracy and map consistency is remarkably improved.