Abstract
This paper describes a map generation method for recognizing an indoor scene by using multiple laser range finders (LRFs) to prevent the robot from colliding with obstacles and falling. Many of existing methods use only horizontal-scanning LRFs for mapping, but they cannot recognize small bumps and downstairs. We therefore propose a method of generating a map by using multiple 2D LRF pointing at different directions, by which enough information for a safe robot navigation is provided. One horizontally-scanning LRF measures the distance to surrounding walls, while two downward-looking LRFs detect bumps based on a k-curvature based corner detection in LRF scan data and downstairs based on the deviation from the predicted floor height. Detected bumps and downstairs are added to the usual 2D map generated by using a horizontal-scanning LRF. We validated the proposed method both in an environmental simulator for robotics and in an actual indoor environment.
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