A real-time robotic indoor 3D mapping system using duel 2D laser range finders

In this paper, we present a real-time 3D robotic indoor mapping system on a wheeled mobile robot equipped with two 2D laser range finder (LRF). We propose the fusion approach of two fixed 2D laser range finder (one horizontal and one vertical), odometers and gyroscope, to build accurate 2D and 3D maps at the same time. The two LRFs perform line-feature based SLAM in horizontal and vertical planes when the robot walking forward. Combined with the pose computed by the information of odometers and gyroscope, we achieve an accurate localization. To represent the 3D environment an octree based map is used. Mapping experiment of a 180m+ corridor was tested on an average speed of 0.5m/s without stop. The results shows the efficiency and accuracy of the 3D mapping system.