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3D Map Building Using Mobile Robot with Scan Device

Shohei Kita, Jae Hoon Lee, and Shingo Okamoto
Graduate School of Science and Engineering, Ehime University, Matsuyama, Japan

Abstract—This paper proposes a method to implement an Iterative Closest Point (ICP)-based three-dimensional (3D) mapping by using a mobile robot equipped with a 3D scan device. A 3D map is created by matching a number of 3D point data items what one another that are measured by the 3D scan device on the mobile robot. The position and posture information of the mobile robot is used as the initial position and posture, respectively, to find the optimal matching solution. The robot’s position is obtained through odometry by calculating the angle of rotation of its two wheels. Posture is measured by using an Inertial Measurement Unit (IMU) sensor. Sets of 3D points at each scan position are matched with each reference data using the Generalized Iterative Closest Point (GICP) algorithm that can find the optimal solution, i.e., position and posture information. Experiments involving map building in an outdoor environment with buildings in the vicinity were performed to test the proposed method. 
Index Terms—mobile robot, mapping, 3D scan, ICP algorithm

Cite: Shohei Kita, Jae Hoon Lee, and Shingo Okamoto, "3D Map Building Using Mobile Robot with Scan Device," International Journal of Mechanical Engineering and Robotics Research, Vol. 5, No. 3, pp. 191-195, July 2016. DOI: 10.18178/ijmerr.5.3.191-195