2D-SLAM of Illuminance Measurement Robot using 3D-LiDAR and IMU on Slopes

In the construction industry, illuminance measurement work is hard, and automation of this work is hoped. So, we have developed the illuminance measurement robot which moves automatically, and have shown its effectiveness. Indoor construction sites basically consist of flat floors, vertical walls and vertical pillars, but slopes may exist in some cases. We confirmed that the 2D-SLAM (2-dimensional Simultaneous Localization and Mapping) failed and the illuminance measurement work was interrupted when the illuminance measurement robot ran in such an environment. To solve this problem, we select the laser of the 3D-LiDAR (3dimensional Light Detection and Ranging) which is horizontal to the flat floor depending on the angle of the robot measured by IMU (Inertial Measurement Unit).