실내 지도 작성을 위한 레이저 영역 센서를 사용한 선분추출

This paper presents a line extraction method for a mobile robot to build indoor map using 2D laser range finder. The line extraction method consists of preprocessing and postprocessing. The preprocessing calculates coordinates of a point which is detected by the laser range finder. The laser range finder provides direction angle and distance of the detected point. In the postprocessing, ADB(Adaptive Breakpoint Detector) algorithm extracts line segments from the coordinates of the detected points. To eliminate deviation of points from the line segment and merge similar line segments, split and merge algorithm is applied. The proposed algorithm is applied to map building using a mobile robot for verification of its performance. Since the proposed algorithm doesn’t take care of the uncertainty of robot motion as a prerequisite for the SLAM(Simultaneous Localization and Mapping), it is required to be integrated with localization method and taking the motion uncertainty of the robot motion and sensor measurement.