Building a 2D environment map from laser range-finder data

11 November 2002

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

p. 290-295
https://doi.org/10.1109/ivs.2000.898357

Abstract

The contribution describes a robust but simple approach to 2D environment mapping making-use of a TOF-based laser ranging system. As the used mobile system has no absolute positioning system the task has been split into two parts. The first deals with preprocessing of odometry and range measurements towards determination of position and heading of the platform in the environment. The other step maintains (updates) the internal world model via search for correspondences between existing map and observed entities with subsequent application of renewal rules.

Keywords

INTELLIGENT SENSORS
SENSOR SYSTEMS
SHAPE
CYBERNETICS
ROBUSTNESS
INTELLIGENT TRANSPORTATION SYSTEMS
INTELLIGENT SYSTEMS
POSITION MEASUREMENT
INTELLIGENT VEHICLES
LASER MODES

This publication has 1 reference indexed in Scilit:

A method for registration of 3-D shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence, 1992