Mutual localization and 3D . . .

Abstract

This paper describes the development of a 3D laser scanner and an approach to 3D mapping and localization. The 3D scanner consists of a standard 2D laser scanner and a rotating mirror assembly. Employing multiple robots and mutual localization local 3D maps are built. Global localization within the maps is performed by extracting a cross-section of the map just below the ceiling and then using an exhaustive search algorithm to enable the merger of multiple local 3D maps. The quality of these maps is such that the poses estimated by this method are accurate to within 0.1m and 1 degree