抄録
Simultaneous Localization And Mapping (SLAM) is one of the most important problems of mobile robot systems. Recently, 3D distance sensor is expected for 3D SLAM. However, It is difficult to build the 3D environmental map in real time because a distance dataset from 3D distance sensor has many position data and it is difficult to search the corresponding points from the dataset in real time. In our research, we combine the 2D environmental maps that are divided into different height for realizing the real-time 3D SLAM. In this paper, we propose a real-time 2D SLAM based on an Evolution Strategy by using 3D distance sensor. The experimental result shows the effectiveness of our proposed method.
