Surface Estimation ICP Algorithm for Building a 3D Map by a Scanning LRF

Abstract

A new three-dimensional (3D) map building method based on Laser Range Finder (LRF) has been proposed in this research, performing a surface estimation with the Iterative Closest Point (ICP) algorithm. While a mobile robot is navigating in an unknown environment, the entire environment cannot be scanned by LRF since kinematic features of the mobile robot and surface conditions are dynamically changing. To resolve this difficulty in building a 3D map while the mobile robot is navigating, a surface estimation ICP algorithm is proposed, which is based on the continuity of the environment around mobile robot. That is, this new algorithm recovers the un-scanned area by estimating feature points in the neighboring two regions based on the continuous environment information. The effectiveness of proposed algorithm has been demonstrated through real experiments of the mobile robot navigation.