Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing

13 years 10 months ago

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— To operate outdoors or on non-ﬂat surfaces, mobile robots need appropriate data structures that provide a compact representation of the environment and at the same time support important tasks such as path planning and localization. One such representation that has been frequently used in the past are elevation maps which store in each cell of a discrete grid the height of the surface in the corresponding area. Whereas elevation maps provide a compact representation, they lack the ability to represent vertical structures or even multiple levels. In this paper, we propose a new representation denoted as multi-level surface maps (MLS maps). Our approach allows to store multiple surfaces in each cell of the grid. This enables a mobile robot to model environments with structures like bridges, underpasses, buildings or mines. Additionally, they allow to represent vertical structures. Throughout this paper we present algorithms for updating these maps based on sensory input, to match m...

Rudolph Triebel, Patrick Pfaff, Wolfram Burgard

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