Map Building in Planar and Non-Planar Environments
نویسندگان
چکیده
Mapping environments is a fundamental task for a rescue robot. In this paper we present techniques that we have developed for mapping rescue environments within the SPQR-Rescue team participating in the RoboCup 2004 Real Rescue competition. After an analysis of existing techniques for simultaneous localization and mapping (SLAM) we have devised a method suitable for planar environment (i.e. yellow-like arenas) able to deal also with different materials (glasses and mirrors). Moreover, the problem of mapping rescue scenario is in general nonplanar and to this end we have performed a preliminary analysis towards the definition of a SLAM technique that will be suitable in such a situations.
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