Abstract
This research deals with outdoor SLAM based on local elevation map matching and proposes a new terrain classification method for efficient map matching. The main map used for outdoor SLAM is an elevation map which consists of 2-D grids with elevation information on each cell. 3-D environmental data acquired by tilting a 2-D laser scanner are used to build a local elevation map and classify the local terrain. The experimental results show that the proposed method can enhance performance of outdoor SLAM.
