Abstract
This paper describes a method of generating 3D indoor environment model by a mobile robot with laser range finder. Generally, there are more complicated objects in indoor environment than those in outdoor environment, and it is an issue how we model them. First, we obtain 3D range data by moving the laser range finder which is put on an autonomous mobile robot verticaly. Next, we rearrange the data in order to make it easier to generate planes from the rearranged data. Then we generate planes from data. Finally, we make textures which are suitable for planes from the images of cameras, and map them on the planes.
