Large-Scale Robotic 3-D Mapping of Urban Structures
This article present results for building accurate 3-D maps of urban environments with amobile SegwayRMP. The goal of this project is to use robotic systems to rapidly acquire 3-D maps, which seamlessly integrate indoor and outdoor structures. Our approach is based on an information-solution of the SLAM problem, which enables us to seamlessly integrate GPS, IMU, and scan data. 3-D models acquired by the robot are analyzed for navigability using a multi-grid approach, and visualized using a level set technique. Results are presented for a number of environments, some of which combine indoor and outdoor terrain.