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Building Segment-Based Maps Without Pose Information

Amigoni, Francesco and Gasparini, Simone and Gini, Maria Building Segment-Based Maps Without Pose Information. (2006) Proceedings of the IEEE, 94 (7). 1340-1359. ISSN 0018-9219

(Document in English)

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Official URL: http://dx.doi.org/10.1109/JPROC.2006.876925


Most map building methods employed by mobile robots are based on the assumption that an estimate of robot poses can be obtained from odometry readings or from observing landmarks or other robots. In this paper we propose methods to build a global geometric map by integrating scans collected by laser range scanners without using any knowledge about the robots' poses. We consider scans that are collections of line segments. Our approach increases the flexibility in data collection, since robots do not need to see each other during mapping, and data can be collected by multiple robots or a single robot in one or multiple sessions. Experimental results show the effectiveness of our approach in different types of indoor environments

Item Type:Article
Additional Information:Thanks to IEEE editor. The definitive version is available at http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=1677948
HAL Id:hal-01139220
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:Other partners > University of Minnesota (USA)
Other partners > Politecnico di Milano (ITALY)
Deposited On:03 Apr 2015 14:27

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