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Building Segment-Based Maps Without Pose Information
2006
Proceedings of the IEEE
Most map building methods employed by mobile robots are based on the assumption that an estimate of robot poses can be obtained from odometry readings or from observing landmarks or other robots. In this paper we propose methods to build a global geometric map by integrating scans collected by laser range scanners without using any knowledge about the robots poses. We consider scans that are collections of line segments. Our approach increases the flexibility in data collection, since robots do
doi:10.1109/jproc.2006.876925
fatcat:fluxhaccljgw7cit4c4tqfscoq