APPARATUS AND METHOD FOR GENERATING 3D MAP USING 2D LASER RANGE FINDER

摘要

The present invention relates to a method for searching for an unknown environment by an unmanned robot to generate a map of a corresponding environment and, more particularly, to an apparatus and a method for generating a 3D map using a 2D laser range finder (LRF) having improved stability and accuracy by merging information on left and right features measured with respect to the unmanned robot by using two 2D LRFs. According to the present invention, the apparatus comprises: a feature information merging unit for merging information on left and right features measured with respect to an unmanned robot by using two 2D LRFs; a preprocessing unit for removing a case that the information on the features generated by using left and right LRFs is similar; a map information correcting unit for correcting map information according to information on a position and angle of the current unmanned robot; a similar information extracting unit for extracting similar information from a currently (t) generated map, and a map generated at a previous time (t-1); and a map generation unit for connecting the extracted similar information to generate a global map.;COPYRIGHT KIPO 2016