Journal
PROCEEDINGS OF THE IEEE
Volume 94, Issue 7, Pages 1340-1359Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JPROC.2006.876925
Keywords
laser range scanners; map building; map merging; multirobot systems; scan matching
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Most map building methods employed by mobile robots are based on the assumption that an estimate of robot poses can be obtained from odometry readings-or from observing landmarks or other robots. in this paper we propose methods to build a global geometric map by integrating scans collected by laser range scanners without using any knowledge about the robots' poses. We consider scans that are collections of line segments. our approach increases the flexibility in data collection, since robots do not need to see each other during mapping, and data can be collected by multiple robots or a single robot in one or multiple sessions. Experimental results show the effectiveness of our approach in different types of indoor environments.
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