Cuboid-based workspace mapping and plane detection using time-series range data

This paper describes methods of environment map representation and plane detection for daily assistive robots. Under the assumption that 3D information of around environment is constructed by collecting range data gradually measured, we propose an effective map representation named TCCM (Time-series Composite Cuboid Map). The method copes with temporal sequence explicitly, and map updating is efficiently performed. In addition, two plane estimation methods are proposed. Through several experiments in daily environments, we ensured the effectiveness of our method.