Building Reliable 2D Maps from 3D Features
نویسندگان
چکیده
This paper presents a novel approach for creating a reliable map of an arbitrary indoor environment with a mobile robot. The map consists of a topological component representing rooms and doors and a grid map for obstacles within each room. Both maps are built via a SLAM approach based on distance measurements of two planar laser scanners. In order to get a proper overview of room and furniture primitives even in highly cluttered areas, plane patches are extracted from 3D information provided by a third, rotating laser scanner. These features are used to detect room walls invisible to the planar scanners and to find interesting places as table tops and shelves. Thus the 2D maps are enhanced by 3D features and guide the robot during its main task – environmental exploration and detection of objects of daily use. Keywords/Relevant Areas 3D Mapping, Environmental Modeling, Indoor Robotics
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