A Novel Self-Positioning Based on Feature Map Creation and Laser Location Method for RBPF-SLAM

Algorithm 1

Line feature extraction algorithm based on Hough transform.

	Step 1: First, make the point cloud data sparse, and then Hough transform is used to preliminarily determine the features of line segments and the points belonging to these line segments.
	Step 2: Search the voting box in Hough space by depth first algorithm, and merge the approximate line segments.
	Step 3: Using the least square method to obtain accurate line features.