Building a 2D environment map from laser range-finder data

The contribution describes a robust but simple approach to 2D environment mapping making-use of a TOF-based laser ranging system. As the used mobile system has no absolute positioning system the task has been split into two parts. The first deals with preprocessing of odometry and range measurements towards determination of position and heading of the platform in the environment. The other step maintains (updates) the internal world model via search for correspondences between existing map and observed entities with subsequent application of renewal rules.