A 3D simultaneous localization and mapping exploration system

Abstract

In this work we develop a robot system capable of autonomously exploring and mapping an indoor environment. For this we apply a Simultaneous Localization and Mapping (SLAM) algorithm to build up a 3D map and use it to plan the navigation of the robot to further explore the environment. The system is realized in a modular and distributed architecture. Finally, we critically evaluate the system as a whole.