3D Map Building Using a 2D Laser Scanner

  • Á. Llamazares
  • E. J. Molinos
  • M. Ocaña
  • L. M. Bergasa
  • N. Hernández
  • F. Herranz
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6928)

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.

Keywords

Mobile Robot Iterative Close Point Robotic Platform Iterative Close Point Unmanned Ground Vehicle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Á. Llamazares
    • 1
  • E. J. Molinos
    • 1
  • M. Ocaña
    • 1
  • L. M. Bergasa
    • 1
  • N. Hernández
    • 1
  • F. Herranz
    • 1
  1. 1.Department of ElectronicsUniversity of AlcaláMadridSpain

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