3D map building for a moving based on mobile robot

This paper proposes a robust 3D-map building process for a mobile robot using a LRF (Laser Range Finder). Instead of the expensive and bulky 3D-laser scanner, the LRF can be utilized and installed on the mobile robot for the map building and the autonomous navigation. The scanning operations are performed while the mobile robot is moving on the ground without stops. To filter out the high-frequency noises caused by the motion on the irregular surface in real time, the hybrid median filter has been adopted. The effectiveness of the proposed map building scheme has been demonstrated through the real navigation experiments in the outdoor environment.