3D map building for mobile robot under unknown outdoor environments

摘要

Considering the drawback of the traditional iterative closest point(ICP) algorithm and the characteristics of the outdoor environment,a more effective ICP algorithm which is able to avoid the local minimum problem was presented for 3D map building under unknown outdoor environment.A new online multiview registration method and an offline registration method were proposed to resolve the problem of accumulative error.Finally by using a 3D laser radar and a mobile robot,an outdoor 3D map,which was necessary for the positioning and navigation of the mobile robot,was constructed successfully.The experimental results show that the method is fast,precise,robust and applicable to the complex and large outdoor environment.