A Robust Approach to Build 2D Line Maps From Laser Scans
نویسندگان
چکیده
Mobile robots typically need a map of the environment to perform their tasks. In indoor environments, a 2D geometric map is commonly represented by a set of lines and points. In this work we consider a mobile robot with a laser range finder and the goal is to find the best set of lines from the sequence of points given by a laser scan. We propose a probabilistic method to deal with noisy laser scans, where the noise is not properly modeled using a Gaussian Distribution. An experimental comparison with a very well known method (SMSM) using a mobile robot simulator and a real mobile robot, shows the robustness of the new method. The new method is also fast enough to be used in real time.
منابع مشابه
A Probabilistic Approach to Build 2D Line Based Maps from Laser Scans in Indoor Environments
In this work we consider a mobile robot with a laser range finder. Our goal is to find the best set of lines from the sequence of points given by a laser scan. We propose a probabilistic method to deal with noisy laser scans, in which the noise is not properly modeled using a Gaussian Distribution. An experimental comparison with a very well known method (SMSM), using a mobile robot simulator a...
متن کاملMapping with Micro Aerial Vehicles by Registration of Sparse 3D Laser Scans
Micro aerial vehicles (MAVs) pose specific constraints on onboard sensing, mainly limited payload and limited processing power. For accurate 3D mapping even in GPS denied environments, we have designed a light-weight 3D laser scanner specifically for the application on MAVs. Similar to other custom-built 3D laser scanners composed of a rotating 2D laser range finder, it exhibits different point...
متن کاملRobust Local Localization of a Mobile Robot in Indoor Environments Using Virtual Corners
This paper deals with the problem of finding the movement of a mobile robot given two consecutive laser scans. The proposed method extracts a line map from the sequence of points in each laser scan, using a probabilistic approach, and then computes virtual corners between two lines in the same line map. The movement of the robot is estimated from correspondences of virtual corners between the t...
متن کاملRegistration of Non-Uniform Density 3D Laser Scans for Mapping with Micro Aerial Vehicles
Micro aerial vehicles (MAVs) pose specific constraints on onboard sensing, mainly limited payload and limited processing power. For accurate 3D mapping even in GPS-denied environments, we have designed a lightweight 3D laser scanner specifically for the application on MAVs. Similar to other custom-built 3D laser scanners composed of a rotating 2D laser range finder, it exhibits different point ...
متن کاملA novel method for locating the local terrestrial laser scans in a global aerial point cloud
In addition to the heterogeneity of aerial and terrestrial views, the small scale terrestrial point clouds are hardly comparable with large scale and overhead aerial point clouds. A hierarchical method is proposed for automatic locating of terrestrial scans in aerial point cloud. The proposed method begins with detecting the candidate positions for the deployment of the terrestrial laser scanne...
متن کامل