抄録
This paper describes a 3D map generation method using a laser range finder for a mobile robot. The mobile robot has omni-directional wheels. LRF is furnished to be able to scan vertical on a pan-unit in front of the robot. To generate a 3D Map, we use measured values of LRF, odometry and the angle of pan-unit. After generating map, we have shown that the map is more effective, and robot can move by using it.
