Map building and localization using 2D range scanner

This paper presents a global localization method based on map matching. A local map is built by successive splitting and merging scan points. A global map is built by merging all local maps. Local and global map are represented with line segments that are sorted counterclockwise. Complete line segments are selected to match between two maps. Matching is based on relative position relation of complete line segment. The localization algorithm based on an ordinal map and relative position improves the matching efficiency and lowers computational cost. All these techniques have been implemented on our mobile robot ATRVII equipped with 2D laser range scanner SICK.