Line segment based map building and localization using 2D laser rangefinder

Li Zhang, Bijoy K. Ghosh

Research output: Contribution to journalConference articlepeer-review

138 Scopus citations

Abstract

In this paper, we study a new scheme for map building and describe localization techniques for a mobile robot equipped with a 2D laser rangefinder. We propose to use line segments as the basic element for the purpose of localization and to build the map. Line segments do provide considerable geometric information about the scene that can also be used for accurate and fast localization. We introduce a new Closed Line Segment (CLS) map, which consists of only line segments and defines a closed and connected region. Virtual line segments are drawn, for the spots that do not adequately describe a line segment on the range data. These are further explored via navigation and we argue that the CLS map provides an efficient mobile robot exploration scheme. All these techniques have been implemented on our Nomad XR4000 mobile robot and results are described in this paper.

Original languageEnglish
Pages (from-to)2538-2543
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

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