2D mapping of cluttered indoor environments by means of 3D perception
2004 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, 2004, no 4, 4204-4209 p.Conference paper (Refereed)
This paper presents a combination of a 3D laser sensor and a line-base SLAM algorithm which together produce 2D line maps of highly cluttered indoor environments. The key of the described method is the replacement of commonly used 2D laser range sensors by 3D perception. A straightforward algorithm extracts a virtual 2D scan that also contains partially occluded walls. These virtual scans are used as input for SLAM using line segments as features. The paper presents the used algorithms and experimental results that were made in a former industrial bakery. The focus lies on scenes that are known to be problematic for pure 2D systems. The results demonstrate that mapping indoor environments can be made robust with respect to both, poor odometry and clutter.
Place, publisher, year, edition, pages
2004. no 4, 4204-4209 p.
, Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729 ; 2004
Algorithms, Computational complexity, Feature extraction, Mapping, Mathematical models, Navigation, Sensors, Indoor navigation, Mobile outdoor robots, Navigation algorithms, Static structures, Mobile robots
IdentifiersURN: urn:nbn:se:kth:diva-157431ScopusID: 2-s2.0-3042632553OAI: oai:DiVA.org:kth-157431DiVA: diva2:771272
Proceedings- 2004 IEEE International Conference on Robotics and Automation, 26 April 2004 through 1 May 2004, New Orleans, LA
QC 201412122014-12-122014-12-092014-12-12Bibliographically approved