Abstract
Autonomous mobile robots are required to understand surrounding environments for its localization and motion planning. This paper proposes a 3D mapping system using LIDAR and a triaxial inertial sensor. The system is based on "Velodyne SLAM" which is a state of the art ICP based mapping method using only point cloud data. In comparison to the existing method, the proposed method is robust to rotary motion and works for fast and large change of sensor position and orientation. We implemented the proposed method to the hand-held sensor unit, and evaluated its effectivity in varied environments.
