SYSTEM AND METHOD FOR REAL-TIME MAPPING OF INDOOR ENVIRONMENT USING MOBILE ROBOTS WITH LIMITED SENSING

摘要

PROBLEM TO BE SOLVED: To provide a system and method for real-time mapping of an indoor environment using mobile robots with limited sensing.

SOLUTION: Raw trajectory data comprising a plurality of trajectory points is received from wall-following. Trace segmentation is applied to the raw trajectory data to generate line segments. The line segments are rectified to one another. A map is generated from the rectified line segments.

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