在移动机器人的分层同时定位和地图构建SLAM算法中,通过签名元素实现局部子地图的匹配存在计算复杂性的问题,提出了通过构建签名元素向量的方法来解决子地图匹配的问题；由于机器人在重复访问某一个区域的时候,两次的运动轨迹不可能完全重合,因此在该方法中结合了基于路标进行定位的技术,从而实现可靠的回路闭合确认计算.另外,讨论了在获得全局地图的后处理过程中存在两个或者多于两个的闭合回路共享部分路径时,实现全局优化的算法中限制条件的修改问题.最后,通过一个算例说明子地图匹配过程的具体操作.%Because of the computational complexity in the signature element based local sub-map matching for hierarchical Simultaneous Localization and Mapping (SLAM) algorithm,a signature vector based matching approach was proposed in this paper.Since there may be a difference between the two trajectories that the robot passed the same sub-region at first time and at second time,the approach was improved by combining a landmark localization technique to realize more reliable loop closing calculation.In addition,the constraints equation was discussed for the case that two or more closed loops share a common sub-path for obtaining a global optimized map of the environment.Finally,a demonstration case was given to show the application of our approach.
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