Floor surface mapping using mobile robot and 2D laser scanner

Abstract

Mapping and localization is a well studied area in mobile robotics as all robots need to position themselves in the environment correctly to do their tasks. However, most maps lack any information about the surface they operate on. If a surface map is available, it can be used for robust control of the drive system as well as for planning of tasks such as cleaning, polishing, inspection, mowing, etc. This paper presents an investigation into the use of a robot-mounted 2D laser scanner for floor surface point cloud generation. The robot wheel odometry information is used for pose and orientation tracking. The system reliably produces point cloud surfaces of three types of flooring; carpet, coated asphalt, and asphalt. The devised method of surface profiling is effective for a fast overview of the floor and can be improved through more robust localisation, and greater laser scanner accuracy.