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Map Building from Laser Range Sensor Information in Noisy Environment using Mixed Clustering , Singular Value Decomposition and Hough Transform

The goal of an autonomous mobile robot is to navigate without human intervention in a dynamic and real environment by sensing the world around using sensors mounted on it. A robot in an unknown environment, which has no prior information of the world around with respect to position and map, is rather difficult to imagine. Simultaneous Localization and Mapping, also known as SLAM addresses this problem of a mobile robot moving through an environment of which no map is available priori. The goal of the SLAM problem is to reconstruct the map of the environment and path taken by the robot simultaneously. The SLAM problem focuses two major problems-