Abstract
In this paper we present a technique to build 3D maps of the environment using a 2D laser scanner combined with a robot’s action model. This paper demonstrates that it is possible to build 3D maps in a cheap way using an angled 2D laser. We introduce a scan matching method to minimize the odometer errors of the robotics platform and a calibration method to improve the accuracy of the system. Some experimental results and conclusions are presented.
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Llamazares, Á., Molinos, E.J., Ocaña, M., Bergasa, L.M., Hernández, N., Herranz, F. (2012). 3D Map Building Using a 2D Laser Scanner. In: Moreno-Díaz, R., Pichler, F., Quesada-Arencibia, A. (eds) Computer Aided Systems Theory – EUROCAST 2011. EUROCAST 2011. Lecture Notes in Computer Science, vol 6928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27579-1_53
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DOI: https://doi.org/10.1007/978-3-642-27579-1_53
Publisher Name: Springer, Berlin, Heidelberg
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