Simultaneous Localization and Map Construction of Indoor Environments by a Mobile UGV using a LIDAR, IMU, Kinect Sensors

Using this technique, a robot can operate in an environment without a priori knowledge of a map and its location in the world. This is a critical skill that can be utilized in a wide range of applications that require a robot to be able to explore a region and return to its starting location, learn different paths to key locations in a world, and to traverse a region completely. Such applications include: search and rescue operations, mine exploration, underwater navigation, crime scene investigation, playing robot soccer etc.