3D Map Building Using a 2D Laser Scanner
- Llamazares, Ángel; Molinos, Eduardo; Ocaña, Manuel; Bergasa, Luis M.; Hernández, Noelia; Herranz, Fernando
- Year: 2012
- Type of Publication: Article
- Journal: Lecture Notes on Computer Science
- Volume: 6928
- Pages: 412-419
- ISSN: 0302-9743
- DOI: 978-3-642-27579-1_53
- Abstract:
- In this paper we present a technique to build 3D maps of the environment using a 2D laser scanner combined with a robotâs 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.
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