Mapping method of single LiDAR for indoor degraded environment

作者：Zhang Zijiang; Wu Jingwen; Cheng Haoran; Lin, Jiang^*; Shuo, Yang

来源：COMPUTERS & ELECTRICAL ENGINEERING, 2022, 103: 108284.

DOI：10.1016/j.compeleceng.2022.108284

• Cartographer
• Simultaneous localization and mapping
• Robot pose estimation
• Degraded environment

Aiming at the problem that the mobile robot equipped with only a single-line LiDAR sensor is highly prone to mapping errors in the indoor degraded environment with long corridors, this paper proposes a Cartographer-SLAM based method to overcome the failure of laser odometer in problematic scenarios and construct high-precision raster maps. The method consists of two main parts. First, corridor detector for environment sensing (CDES) endows the mobile platform with the ability to perceive degraded environment through real-time obstacle monitoring and robust linear feature extraction. Second, specific observations for pose optimization (SOPO), additional observations are introduced for pose correction by measuring the variation of wall spacing. Experiment results demonstrate that the proposed method can overcome the failure problem of laser odometer in the long featureless corridor, and the area error of map building is 0.63% in the corridor environment with a total length of 45.15 m.