Loop Closure Method using Reference Heading in A Line-based SLAM

????????? ???????????? ?????? SLAM (Simultaneous Localizaiton and Mapping)??? ????????? ???????????? ?????????(Vanishing Point)??? ???????????? ????????????(Loop closure) ????????? ???????????? ????????? ???????????????. ????????? ?????????(Vanishing Point)??? ?????? ???????????? ???????????? ????????? ??????????????? ????????? ??????????????? ?????? ????????? ??????(Landmark)??? ?????????????????? ???????????? ?????????. ????????? ??? ??????????????? ????????? ????????? ????????? ?????? ????????? ????????? ?????? ?????? ????????? ??? ?????? ???????????? ?????? ?????? ????????? ????????? ????????? ????????? Reference image ?????? ???????????? ???????????? ???????????? ??? ????????? ????????? ?????? ????????? ????????????, Reference Heading ????????? ?????? ????????? ????????????(orientation) ????????? ????????? EKF (Extended Kalman Filter)??? ?????? ?????????????????? ??????????????? ???????????? ????????? ????????????. ????????? ????????? ????????? ???????????? ????????? ????????? ????????? ????????? ????????????.??? ????????? ??????????????? ??? ?????????????????????????????? ?????? ????????? ????????? ????????? ??????????????? ???????????? (NIPA-2011-C7000-1101-0001) ??? 2011??? ???????????????????????? ???????????? ????????????????????? ????????? ?????? <???????????? ?????????????????????> ????????????????????????????????? ????????? ?????????. (?????????????????? - M1AMA003-2011-0028353)