Proposal of Lateral Inhibition Real Time Map Updating Method for Simultaneous Localization and Mapping by Using LRF

Abstract

In this paper, a novel real time map updating algorithm using a concept of lateral inhibition was proposed and it was evaluated by simple 2D room mapping experiment. For long time and difficult map creation process of simultaneous localization and mapping (SLAM) algorithm, stable map updating is one of the important topics. By using the lateral inhibition process to the map updating process, it is able to reduce the complexity of the map updating process of the SLAM. It could reduce the noise around the wall and emphasize the border (such a wall). The experimental result of 6.0 x 3.5 m 2D room with many obstacles shows the x-y positional and the rotational estimation precision would be measured as Δx, y= 0±0 m (within laser range finder measurement error, ±S.D.) and the θ= - 3.3×10-4 ±1.4×10-3 rad (1 hour measurement), and the map was updated real time when the laser range finder sensor was moving from a position to another room position with low speed. In addition, the environment map was created without deformation in the three trees environment which has a little wind (<1m/sec) and uneven shape. The long time stable position and rotation estimation could be realized by using the lateral inhibition mapping update algorithm.