Incremental Map-making in Indoor Environments

This paper presents an algorithm that transforms laser range data from indoor environments, into a bird’s eye view of the robot surroundings. The algorithm is intended to be used for semi-autonomous robots, where the operator needs a global view of the environment. Emphasis is put on the important Line Extraction step, where two approaches are mentioned, one of which is a new Polyline Segmentation approach. Input data comes from odometry and a laser range scanner.