3-D Map Reconstruction in Cross-country Environment

In order to build a precise 3-D map of outdoor environment,a novel map reconstruction algorithm is proposed based on a mobile robot.The robot uses a four-layer laser radar(LD-ML) to obtain space information and uses a DGPS/INS(Difference GPS/ Inertial Navigation System) position system to obtain its pose and position information.With the aim of building a complete 3-D grid map,the range data of environment are changed into a world coordinate system with the simultaneous position data of the robot.Since the outdoor environment is always complicated,the 3-D grid map is built by updating z-coordinate value using obstacle detection results.And the obstacle detection is achieved by LD-ML according to the gradient and height information of detection regions.The results of 3-D grip map reconstruction show the 3-D map reconstruction algorithm is reliable and stable.