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Three Dimensional Data Capture in Indoor Environments for Autonomous Navigation



John Evans, Tommy Chang, Tsai Hong Hong, Roger V. Bostelman, Robert Bunch


An innovative use of a low-cost laser range scanner captures three dimensional features of indoor environments in a manner suitable for mobile robot navigation that is superior to earlier approaches. This three dimensional mapping solves many of the known problems commonly encountered in early commercial service robot products. Examples include overhangs such as tables and water fountains, obstacles on the floor below the height of the scanner, carts with open sides and such items as IV poles in the hospitals. This paper describes the mapping procedure and presents early test results.
NIST Interagency/Internal Report (NISTIR) - 6912
Report Number


3-D mapping, indoor environments, LADAR, laser ranging, mobile robot, navigation


Evans, J. , Chang, T. , , T. , Bostelman, R. and Bunch, R. (2002), Three Dimensional Data Capture in Indoor Environments for Autonomous Navigation, NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD, [online], (Accessed April 23, 2024)
Created September 30, 2002, Updated December 2, 2008