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송도성(D. S. Song),강승균(S. K. Kang),임종환(J. H. Lim) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
The paper presents an efficient method of extracting line segment in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities based on the simplified Bayesian updating model. The probabilities and orientations of cells in the grid map are continuously updated while the robot explorers its unknown environment, and the orientations of all cells are clustered into several groups according to their values. The line segments are , then, extracted from the clusters using Hough transform methods. The end points of a line segment are evaluated from the cells in each cluster, which is simple and efficient comparing to existing methods. The proposed methods are illustrated by sets of experiments in an indoor environment.