Geometric robot mapping

Authors:
Rolf Lakaemper;Longin Jan Latecki;Xinyu Sun;Diedrich Wolter
Affiliations:
Temple University, Philadelphia, PA;Temple University, Philadelphia, PA;Texas A&M University, College Station, TX;Universität Bremen, Bremen, Germany
Venue:
DGCI'05 Proceedings of the 12th international conference on Discrete Geometry for Computer Imagery
Year:
2005

Citing 4
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Abstract

The purpose of this paper is to present a technique to create a global map of a robot's surrounding by converting the raw data acquired from a scanning sensor to a compact map composed of just a few generalized polylines (polygonal curves). To merge a new scan with a previously computed map of the surrounding we use an approach that is composed of a local geometric process of merging similar line segments (termed Discrete Segment Evolution) of map and scan with a global statistical control process. The merging process is applied to a dataset gained from a real robot to show its ability to incrementally build a map showing the environment the robot has traveled through.