A probabilistic approach to build 2d line based maps from laser scans in indoor environments

Authors:
Leonardo Romero;Carlos Lara
Affiliations:
Michoacana University, Morelia, Mich., Mexico;Michoacana University, Morelia, Mich., Mexico
Venue:
CIARP'06 Proceedings of the 11th Iberoamerican conference on Progress in Pattern Recognition, Image Analysis and Applications
Year:
2006

Citing 10
Cited 0

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Abstract

In this work we consider a mobile robot with a laser range finder. Our goal is to find the best set of lines from the sequence of points given by a laser scan. We propose a probabilistic method to deal with noisy laser scans, in which the noise is not properly modeled using a Gaussian Distribution. An experimental comparison with a very well known method (SMSM), using a mobile robot simulator and a real mobile robot, shows the robustness of the new method. The new method is also fast enough to be used in real time.