Construction method of line-segments based map from 2D laser sensor data for mobile robot

Abstract

This paper presents a rapid and efficient method which can extract line segments from readings of a 2D laser sensor on a mobile robot in a indoor environment. The method includes two algorithms. One algorithm is called Divide-Region which can divide the readings of laser sensor into several continuous region. The other is called Extract-Line-Segments which can extract line segments from the divided readings. The method is implemented in an indoor environment simulated with MobileSim software. Results verify that the proposed method has a good performance in the extracting of line segments from readings of laser sensor.