2D grid map building using ICP algorithm and line extraction

This paper suggests using the ICP(Iterative Closet Point) algorithm to create a 2D map and using line extraction to calibrate line error. The data used in two-dimensional map is only obtained by sensor of mobile robot. The robot can build a 2D map by using data currently through value of encoder, but this method is difficult to calibrate because of difference of distance from value of sensor. Through this, it is occurred wrapping and distortion of map. In order to calibrate position error about this part, distance is calibrated by ICP algorithm and line extraction.