Rough Terrain 3D Mapping and Navigation Using a Continuously Rotating 2D Laser Scanner

Abstract

Mapping, real-time localization, and path planning are prerequisites for autonomous robot navigation. These functions also facilitate situation awareness of remote operators. In this paper, we propose methods for efficient 3D mapping and real-time 6D pose tracking of autonomous robots using a continuously rotating 2D laser scanner. We have developed our approach in the context of the DLR SpaceBot Cup robotics challenge. Multi-resolution surfel representations allow for compact maps and efficient registration of local maps. Real-time pose tracking is performed by a particle filter observing individual laser scan lines. Terrain drivability is assessed within a global environment map and used for planning feasible paths. Our approach is evaluated using challenging real environments.