抄録
In late years, the field where robot is used has extended. It becomes active to the development of a robot to use human life space. A map is necessary for the robot move autonomy. However, it is difficult to make various maps such as human life space. In this study, we describe the flow about three kinds of online SLAM. We made the map using the acquired data and compared accuracy. As a result, ICP Scan Matching showed the best result. But it is distorted by the sensor error and modeling error. So, we examined correction method. And we evaluated effective by the experiment.
