Abstract
In this paper, we propose a indoor environment mapping method for large space with multi-robot. We build a large space map with map fusion by the maps that multi-robot built. Our system is composed of 2DLaserSLAM, the mutual recognition with the camera and map fusion with ICP. When moving robots recognized it mutually, we integrate maps formed from each other's 2DLaserSLAM using ICP. The effectiveness of the proposed method is proved through experiments in indoor environments.
