Map Reconstruction in the Indoor Environment for the Purpose of Autonomous Vehicle Using Laser Radar

This paper proposes how to develop an autonomous vehicle for factory and/or storehouse use. Where the geometric arrangement changes frequently due to the turnover of the cargo. We apply the sensor fusion technique by use of the Omni directional image sensor and laser radar generate the map of such situations. We propose a new update algorithm called SMT (Shift Matching Transform) that obtains region segments with trusted semi-real-time geometric map. We demonstrate how to determined the absolute position of the vehicle by the position information of arbitrary wall. Experimental results on the corridor, Shows the semi-real-time map reconstruction with enough validity.