Feasibility analysis of 2D-SLAM using combination of kinect and laser scanner

Abstract

Both laser scanner and Kinect has been widely used in robotic application for simultaneous localization and mapping (SLAM). However, each sensor has its own limitations. For example, Kinect does not have a wide range field of view and laser scanner could not detect obstacles beyond its scanning plane. The paper proposes a method to combine the data from Kinect and laser scanner to perform a 2D-SLAM. The sensors will be mounted in different types of configurations; both facing forward and facing in opposite directions. This system is able to detect complex surrounding features for better mapping and obstacle avoidance.