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Suitable 3D map building algorithm implementation on the inclined surface

This paper proposes a 3D map-building scheme using LRF(Laser Range Finder) while a mobile robot is navigating on the inclined surface. All studiers on the 3D map-building are performing the map building only on the flat surface. While the mobile robot is moving on the inclined surface, the view angle of LRF is being changed in real time, which is very difficult to build the 3D map using only encoder data. To cope with this a real-time change of the view angle in build 3D map, IMU and balance filters are fused to correct the unstable encoder data. It is verified that the fusion of multiple sensors are properly performed to correct the slope angle of the inclined surface. The effectiveness of the balance filter are also checked through the hill climbing navigations.