Incremental Mapping Based on Line-Segments Relation for Mobile Robot

The recent research trend in deploying mobile robots in the indoor environments require the development of efficient map presentation techniques. A novel method is proposed for building maps of the indoor structured environments by using line-segment relation extracted from laser range scans. Compared with the more common grid representation, the map built with the line segments is more compact and more suitable for the structured environments. The core of the method consists of three parts: local map building, robot pose estimation, and global map update. Compared to two other traditional methods, the proposed method is effective and robust for the indoor environment mapping.