Lokalisierung und Kartenbau mit mobilen Robotern

Three dimensional mapping plays a major role particularly in the field of robotics, and is the foundation of most tasks that require more than a purely reactive interaction with the environment. The text at hand describes a way to acquire such maps. Starting with a first and fundamental step towards autonomous exploration and mapping, i.e., 2D localization of a mobile robot, the text describes the automatic, efficient registration of 3D scans for simultaneous mapping and localization in 6 degrees of freedom, thereby solving the SLAM problem. A solution for dealing with accumulated errors that occur especially in case of exploring large areas follows: A GraphSLAM variant yields globally consistent maps, optionally supported by a real-time capable heuristic for online loop optimization. An alternative strategy for 3D mapping by means of cooperatively operating robots concludes.