3D Map Building Considering Physical Properties of an Environment

Abstract

In this paper, a novel SLAM (simultaneous localization and mapping) scheme that uses scan matching in an environment including various physical properties is proposed. In scan matching, localization is performed mainly focusing on the shape information of the environment. Abundant physical features existing in the environment can be very useful information when performing scan matching. Thus, we utilize not only the shape information but also the physical information of the environment as features by measuring such as heat and water sources. Experiment result in that accurate map information can be built when using such physical information of the environment.