Abstract
A new laser scan matching method based on clustering was advanced. It took the advantages of both non-iterative matching method and iterative matching method and increased the speed and the precision of matching. A method of map building based on laser scans using the matching method above was presented for mobile robots. The map building method matched two consecutive scans according to the feature points extracted from the scans and then completed the whole map building. In the experiment of rescue robot developed by our laboratory,the new method can accomplish the task of real-time map building in indoor environment accurately and effectively.
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