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We describe a system allowing a mobile robot equipped with a 3D laser range finder to navigate in the indoor and outdoor environment. A global map of the environment is constructed, and the particle filter algorithm is used in order to accurately determine the position of the robot. Based on data from the laser only, the robot is able to recognize certain classes of objects like a floor, a door, a...
In this paper, we consider the problem of 3D maps building based on the 3D laser scanner indications. The map of the environmem is represented as a 2D array of cells. Each cell represents rectangular region of the scene and consits of list of objects. The key idea of the system is lines extraction from the raw laser data and assigning them to the proper cells. Based on the lines, a set of objects...
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