1A1-D18 Ourdoor Mapping System Based on Understanding of Road Structures using a Swinging LRF
Naotaka Hatao, Ryo HANAI, Manabu Saito, Kimitoshi Yamazaki, Masayuki Inaba · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2010
This paper describes a mapping system in outdoor environments for a mobile robot. Our system can make a topological map based on understanding of road structures using a swinging LRF. The format Maps are graph structures whose nodes and arcs represent intersections and roads respectively. These maps can manage vast outdoor map with tiny computational resources. We implemented our system to a Personal Mobility Robot, and succeeded in making a outdoor map.