The invention relates to the technical field of mobile robots. More specifically, the present invention relates to a grid-based
contour line segment
feature extraction algorithm. The method comprisesthe steps: clustering data points, sorting the data points in each cluster, segmenting the data points in each cluster, performing
line segment fitting on the data points in each
data segment, takingthe first three items as the method for searching the
line segment support area provided by the invention, and fitting line segments in the support area by using a least square method in combination with the method. According to the
algorithm, when the
line segment supporting area is searched, a large memory and long calculation time are not needed, and when the line segment is fitted, the fittingmethod is simple. According to the method, the
performance requirement on the rotary
laser scanner can be reduced, and the influence of noisy points on the extraction effect is reduced. Moreover, parameters such as thresholds do not need to be set, the
performance requirement on the rotary
laser scanner is reduced, the influence of noisy points on the extraction effect is reduced, and the extracted line segment is high in resolution, robustness, efficiency and real-time performance.