Map Building in Planar and Non-Planar Environments

Abstract

Mapping environments is a fundamental task for a rescue robot. In this paper we present techniques that we have developed for mapping rescue environ-ments within the SPQR-Rescue team participating in the RoboCup 2004 Real Rescue competition. Af-ter an analysis of existing techniques for simultane-ous localization and mapping (SLAM) we have de-vised a method suitable for planar environment (i.e. yellow-like arenas) able to deal also with different materials (glasses and mirrors). Moreover, the prob-lem of mapping rescue scenario is in general non-planar and to this end we have performed a prelimi-nary analysis towards the definition of a SLAM tech-nique that will be suitable in such a situations. 1