Mobile robot instant indoor map building and localization using 2D laser scanning data

@article{Liu2012MobileRI,
  title={Mobile robot instant indoor map building and localization using 2D laser scanning data},
  author={Yisha Liu and Yuliang Sun},
  journal={2012 International Conference on System Science and Engineering (ICSSE)},
  year={2012},
  pages={339-344}
}
Mobile robot map building and localization are two fundamental tasks while they are working in indoor environment. With the 2D laser scanning data acquiring in real-time, a robot can calculate the area of the whole free space in a room, then it can select the room center as its position for omni-directional map building. Grid-based representation and least square algorithm are adopted to accomplish instant map building, which can reduce the redundant laser points effectively. With the mapping… CONTINUE READING

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