Autonomous exploration using kinect and laser range finder

Abstract

Autonomous exploration has received a large attention in robotic community. The problem of building and maintaining a 2D map (such as an occupancy grid map or a topological map) has reached a recognized level of maturity, if an adequate sensor, like a laser range finder, is available. However, autonomous motion in indoor environments, possibly cluttered and dynamic for the presence of people and other objects, requires the construction of a 3D map to let the mobile robot reacts in real time to dynamic changes and obstacles to be avoided. © 2012 Springer-Verlag.