Mapping of multi-floor buildings: A barometric approach

This paper presents a new method for mapping multi-floor buildings. The method combines laser range sensor for metric mapping and barometric pressure sensor for detecting floor transitions and map segmentation. We exploit the fact that the barometric pressure is a function of the elevation, and it varies between different floors. The method is tested with a real robot in a typical indoor environment, and the results show that physically consistent multi5floor representations are achievable.