3D Map Building Using a 2D Laser Scanner

Llamazares, Ángel; Molinos, Eduardo; Ocaña, Manuel; Bergasa, Luis M.; Hernández, Noelia; Herranz, Fernando

Year: 2012

Type of Publication: Article

Journal: Lecture Notes on Computer Science

Volume: 6928

Pages: 412-419

ISSN: 0302-9743

DOI: 978-3-642-27579-1_53

Abstract:

In this paper we present a technique to build 3D maps of the environment using a 2D laser scanner combined with a robot’s action model. This paper demonstrates that it is possible to build 3D maps in a cheap way using an angled 2D laser. We introduce a scan matching method to minimize the odometer errors of the robotics platform and a calibration method to improve the accuracy of the system. Some experimental results and conclusions are presented.