Artificial landmark map building method based on grid SLAM in large scale indoor environment

This paper proposes the artificial landmark map building method using a Grid-based Simultaneous Localization And Mapping (Grid SLAM). The Grid SLAM method is employed to simultaneously localize the position of mapping cart and construct the map of working area. Based on the estimated position of the mapping cart and the grid-based map, the artificial landmarks are localized and their positions are saved to the artificial landmark map. The proposed method reduces the complexity and the cost of mapping process which is usually done by hand. The real implementation has been carried out to build the artificial landmark map of large scale indoor environment named T-City. The implementation results show that the proposed method gives a convenient way to construct the artificial landmark map while still maintaining the accuracy of map. The correctness of the artificial landmark map has been confirmed through the real operation of the mobile robots which rely on the artificial landmark map for their navigation at T-City.