Automatic 2D map construction using a special catadioptric sensor

Mobile robots operating in indoor spaces, such as office, can benefit from a two-dimensional (2D) map. The map can be used for planning and executing operations such as navigation between different locations in an office. The map might serve as a visual aid to a security operator. This paper presents a method for constructing a 2D map by fusing local images from a special catadioptric sensor taken from several locations in the environment into a single, consistent image.