Mobile Robot 3D Perception and Mapping with Multi-Resolution Occupancy Lists

Many real-world applications require mobile robots to be able to implement 3D perception and mapping. This paper proposes a novel mechanism for augmenting a traditional 2D laser range finder to produce 3D scans. The range data is stored in occupancy lists which are aligned to produce 3D maps by a multi-resolution particle filter. Experimental results are presented to show the feasibility and good performance of the proposed approach.