A novel topological map is proposed in this paper, and its nodes are represented with the visual scale-invariant features and the beam features of the laser range finder.

提出了一种新型拓扑地图；该地图用激光的扇区特征和视觉的比例不变特征来联合表示节点。

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The problem how to select optimum of signal-to-noise ratio and laser beam divergence for laser range-finder is studied.

研讨激光测距仪的信噪比和激光发散角如何选取最佳值的问题。

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A novel topological map is proposed in this paper, and its nodes are represented with the visual scale-invariant features and the beam features of the laser range finder.

该地图用激光的扇区特征和视觉的比例不变特征来联合表示节点。

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