抄録
This reserch aims to develop a 3D map generation method by a mobile robot for outdoor environments. A robot moving around in an outdoor envirionment needs to detect obstacles and recognize traversable regions. We develop a 3D map generation method using a 3D laser range finder for a wide outdoor environment. It mainly uses an ICP algorithm for estimating ego-motions. When the ICP algorithm fails, the method uses a plane matching-based ego-motion estimation or visual odometry. When we make a map in a wide area, accumulation of ego-motion estimation errors is not negligible which will distort the resultant map. We thies applied a application of pose graph SLAM to improve the accuracy of the map.
