Multi-resolution surfel mapping and real-time pose tracking using a continuously rotating 2D laser scanner

Mapping and real-time localization are prerequisites for autonomous robot navigation. They also facilitate situation awareness of remote operators in exploration or rescue missions. In this paper, we propose methods for efficient 3D mapping of environments and for tracking in real-time the 6D movement of autonomous robots using a continuously rotating 3D laser scanner. Multi-resolution surfel representations allow for compact storage and efficient registration of local maps. Real-time pose tracking is performed by a particle filter based on individual laser scan lines. We evaluate our approach using both data generated in simulation and measurements from challenging real environments.