Building Segment-Based Maps Without Pose Information

Francesco Amigoni (1) , Simone Gasparini (1) , Maria Gini (2)

1 POLIMI - Politecnico di Milano [Milan]
2 UMN - University of Minnesota [Twin Cities]

Most map building methods employed by mobile robots are based on the assumption that an estimate of robot poses can be obtained from odometry readings or from observing landmarks or other robots. In this paper we propose methods to build a global geometric map by integrating scans collected by laser range scanners without using any knowledge about the robots' poses. We consider scans that are collections of line segments. Our approach increases the flexibility in data collection, since robots do not need to see each other during mapping, and data can be collected by multiple robots or a single robot in one or multiple sessions. Experimental results show the effectiveness of our approach in different types of indoor environments

Mots clés: Map building; Multirobot systems; Scan matching - map merging; Laser range scanners

Domaines: Intelligence artificielle [cs.AI]; Géométrie algorithmique [cs.CG]; Robotique [cs.RO]

Francesco Amigoni, Simone Gasparini, Maria Gini. Building Segment-Based Maps Without Pose Information. Proceedings of the IEEE, 2006, vol. 94 (n° 7), pp. 1340-1359. ⟨10.1109/JPROC.2006.876925⟩. ⟨hal-01139220⟩