Map building for a service mobile robot using interactive GUI

This paper presents a method of map building using interactive GUI for an indoor service mobile robot. The reason we proposed this method is that it is difficult for a mobile robot to generate an accurate map although many kinds of sensors are used. In proposed system, the operator can modify map built by LRF and odometry, compared with the real-time video from web camera using modification tool in developed interactive GUI. In order to improve self-localization of mobile robot, Extended Kalman Filter (EKF) was used. This paper introduces the architecture of the proposed system and gives some experimental results.