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2006
Springer

A Probabilistic Approach to Build 2D Line Based Maps from Laser Scans in Indoor Environments

11 years 3 months ago
A Probabilistic Approach to Build 2D Line Based Maps from Laser Scans in Indoor Environments
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.
Leonardo Romero, Carlos Lara
Added 13 Oct 2010
Updated 13 Oct 2010
Type Conference
Year 2006
Where CIARP
Authors Leonardo Romero, Carlos Lara
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