Mobile robot indoor map building and pose tracking using laser scanning

Abstract

Map building and pose tracking are central tasks ter an autttaewotls mobile robot's navigation. The intention of this paper is to introduce our research in mobile robot indoor map building and pose tracking using laser range finder. The line feature extraction methods, which include improved angle histograms algorithm and weighted least square fitting, are proposed firstly. We then discuss the criterion of lines merging in map building. The pose tracking approach based on Extended Kalman Filter is also presented in this paper. Conclusions and experimental results based on a real mobile platform are also given in the final part of this paper.