2A1-O03 Environmental map generation based on free space model considering the reflection characteristics of objects(Localization and Mapping)

Abstract

This paper describes a map generation method for mobile robot's self-localization with consideration of characteristics of laser scanners. Scanned data by laser scanners sometimes include wrong values because laser can be reflected in undesirable way depending on the reflectance of objects and on the angle of incidence. Therefore, we examined the reliability of scanned data for several objects, and developed the map generation method that uses only reliable data in the whole scanned data.