A combining method of Hough transform, coincided-line detecting and least squares curve-fitting is presented and used to fit the line segments from measurement in local map building.

• 在局部地图构建中，采用哈夫变换拟合、同线性判断和最小二乘拟合相结合的方法从测量数据点中拟合得到局部线段集合。