抄録
3D map is useful for planning or traveling of mobile robots. Laser Range Finder (LRF) is often used for mapping. However, when the irradiated laser from LRF hits a plane in too narrow angle, the sensor cannot output the distance information. It caused by the insufficiency of the quantity of catoptric laser. Consequently, there are some lines have data loss, and it makes the "Data loss area"in the 3D map. If this Data loss area is on floor, it may disturb the middle-range navigation of mobile robots. This paper proposes a method of 3D mapping by using LRF and a RGB-D sensor. This method estimates the existence of floor in Data loss area by using RGB-D sensor's color information, and the range data of estimated areas are interpolated as a straight line. It can output the 3D map without Data loss area on the floor.
