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Toward rich geometric map for SLAM : online detection of planes in 2D LIDAR

Berger C.

Journal of Automation Mobile Robotics and Intelligent Systems

2013

Vol. 7, No. 1

35--41

Rich geometric models of the environment are needed for robots to carry out their missions. However a robot operating in a large environment would require a compact representation. In this article, we present a method that relies on the idea that a plane appears as a line segment in a 2D scan, and that by tracking those lines frame after frame, it is possible to estimate the parameters of that plane. The method is divided in three steps: fitting line segments on the points of the 2D scan, tracking those line segments in consecutive scan and estimating the parameters with a graph based SLAM (Simultaneous Localisation And Mapping) algorithm.