SLAM using ICP and graph optimization considering physical properties of environment

Abstract

This paper describes a novel simultaneous localization and mapping (SLAM) scheme based on scan matching in an environment including various physical properties. In scan matching, localization is performed mainly focusing on the shape information of the environment. However, the localization cannot be performed correctly and matching may fail when a similar shape existing in different places if only the shape information is taken into consideration. Therefore, we propose a new method to improve the accuracy of scan matching by considering abundant physical features existing in the environment. In this method, it is possible to utilize not only the shape information but also the physical information of the environment as features by measuring such as heat and water sources. Experiment result in the real environment shows that a highly accurate map of the environment can be generated by utilizing this physical information.