抄録
If you want to explore the unknown environment using an autonomous mobile robot, it is necessary to estimate the position and orientation of the robot relative to the environment to be searched. We also require a high-resolution three-dimensional map of the environment exploration. When we use the 2DLaserSLAM that depends on odometry, it must be considered that exploration environment is assumed to be two-dimensional plane. But such an environment is limited. Because it requires the odometry, an expensive gyro sensor, an acceleration sensor or the like is required in the mobile does not have wheels. In this study, we propose a 3DLaserSLAM using 3DLRF only as an external sensor. We show that without choosing the mobile environment, exploration, the road surface by the proposed method, the construction of the three-dimensional map high-definition can be run on a single sensor, and pose estimation self-position in 3D space.
