Process of Point Clouds Merging for Mapping of a Robot’s Working Environment

  • Petr OlivkaEmail author
  • Michal Krumnikl
  • Pavel Moravec
  • David Seidl
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9842)


The lidar is nowadays increasingly used in many robotic applications. Nevertheless the 3D lidars are still very expensive and their use on small robots is not economical. This article briefly introduces a construction of cheap 3D lidar for indoor usage based on the 2D laser range finder. Subsequently, this article introduces process of merging acquired point clouds. The every pair of neighboring point clouds is oriented in space to fit together in the best possible way. The result of this process is a 3D map of the robot working environment. This map can be segmented and further used for a navigation. In this way, it is also possible to map inaccessible and dangerous areas.


Lidar Laser range finder Point clouds Mapping Robot 


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© IFIP International Federation for Information Processing 2016

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Authors and Affiliations

  • Petr Olivka
    • 1
    Email author
  • Michal Krumnikl
    • 1
  • Pavel Moravec
    • 1
  • David Seidl
    • 1
  1. 1.Department of Computer Science, FEECSVŠB – Technical University of OstravaOstravaCzech Republic

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