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2D Mapping of Cluttered Indoor Environments by Means of 3D Perception
 

Summary: 2D Mapping of Cluttered Indoor Environments
by Means of 3D Perception
Oliver Wulf 1
, Kai O. Arras 2
, Henrik I. Christensen 2
and Bernardo Wagner 1
1
Institute for Systems Engineering (ISE/RTS)
University of Hannover
Hannover, Germany
{wulf,wagner}@rts.uni-hannover.de
2
Centre for Autonomous Systems (CAS)
Royal Institute of Technology
Stockholm, Sweden
{kai-a,hic}@nada.kth.se
Abstract-- This paper presents a combination of a 3D laser
sensor and a line-base SLAM algorithm which together produce
2D line maps of highly cluttered indoor environments. The key of
the described method is the replacement of commonly used 2D

  

Source: Arras, Kai O. - Institut für Informatik, Albert-Ludwigs-Universität Freiburg

 

Collections: Computer Technologies and Information Sciences