A Probabilistic Approach to Build 2D Line Based Maps from Laser Scans in Indoor Environments

  • Leonardo Romero
  • Carlos Lara
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4225)


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 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.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Leonardo Romero
    • 1
  • Carlos Lara
    • 1
  1. 1.Michoacana UniversityMorelia, Mich.Mexico

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