Fast mapping using the log-Hough transformation

Abstract

Environment mapping is a very complex procedure that requires high CPU performance. For the last few years, laser scanners have become more and more important for mobile robots. Using their data requires many transformations between different coordinate systems. This new approach deals with a mapping within the coordinate system of the scanner, therefore it is very fast. The log-Hough transformation performs line finding in scans in a very efficient way, which speeds up mapping.