| Summary: | This paper proposes a ray-model-based straight-line extraction method for the grid map of a mobile robot, call RM-Line. First, the edge map is obtained, with the help of the connectivity of the blank grid. Then, points containing complete line information, called active points, are obtained using a screening model. Lastly, a ray model is designed to extraction line segments. We evaluate the algorithm using the number of lines, the average distance from grids to the lines, and the running time. Experiments show that the proposed algorithm has better performance on grid maps compared to the state-of-the-art algorithms.
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