Mapping with Graph-based SLAM using Wall Detection and Floor Plan Constraints

Abstract

We have previously proposed the mapping method with graph-based SLAM using architectural floor plans. The previous method estimated the robot poses on the architectural floor plan and added them to the pose graph as the floor plan constraint. However, in an environment where the walls are covered by obstacles, it was difficult to estimate the robot poses on the architectural floor plan. In this paper, we introduce wall detection based on Hough transform to deal with environments where the walls are occluded. We use the wall detection to extract the point cloud of the wall surface and align it with the architectural floor plan to estimate the robot poses on the architectural floor plan.