A Real-Time Robotic Indoor 3D Mapping System Using Duel 2D Laser Range Finders

摘要：

　　In this paper,we present a real-time 3D robotic indoor mapping system on a wheeled mobile robot equipped with two 2D laser range finder(LRF).We propose the fusion approach of two fixed 2D laser range finder(one horizontal and one vertical),odometers and gyroscope,to build accurate 2D and 3D maps at the same time.The two LRFs perform line-feature based SLAM in horizontal and vertical planes when the robot walking forward.Combined with the pose computed by the information of odometers and gyroscope,we achieve an accurate localization.To represent the 3D environment an octree based map is used.Mapping experiment of a 180m+corridor was tested on an average speed of 0.5m/s without stop.The results shows the efficiency and accuracy of the 3D mapping system.

关键词： SLAM Laser Range Finder 3D mapping Wheeled Mobile Robot

作者: WANG Yong-kun Huo Ju WANG Xing-shun

作者单位: Control Science and Engineering,Harbin Institute of Technology,Harbin 150001,China Department of Electrical Engineering,Harbin Institute of Technology,Harbin 150001,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8542-8546

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）