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Robust 3D map building for a mobile robot moving on the floor

This paper proposes a robust 3D map-building system for a mobile robot using a LRF (Laser Range Finder). The LRF can be utilized and installed on the mobile robot for the map building and the autonomous navigation. The scanning operations are performed while the mobile robot is moving on the ground without stops. The effectiveness of the proposed map building scheme has been demonstrated through the real navigation experiments in the outdoor environment.