Li Li, Jian Yao, Renping Xie, Jinge Tu

Research output: Contribution to journalConference articlepeer-review


Location-Based Services (LBS) have attracted growing attention in recent years, especially in indoor environments. The fundamental technique of LBS is the map building for unknown environments, this technique also named as simultaneous localization and mapping (SLAM) in robotic society. In this paper, we propose a novel approach for SLAMin dynamic indoor scenes based on a 2D laser scanner mounted on a mobile Unmanned Ground Vehicle (UGV) with the help of the grid-based occupancy likelihood map. Instead of applying scan matching in two adjacent scans, we propose to match current scan with the occupancy likelihood map learned from all previous scans in multiple scales to avoid the accumulation of matching errors. Due to that the acquisition of the points in a scan is sequential but not simultaneous, there unavoidably exists the scan distortion at different extents. To compensate the scan distortion caused by the motion of the UGV, we propose to integrate a velocity of a laser range finder (LRF) into the scan matching optimization framework. Besides, to reduce the effect of dynamic objects such as walking pedestrians often existed in indoor scenes as much as possible, we propose a new occupancy likelihood map learning strategy by increasing or decreasing the probability of each occupancy grid after each scan matching. Experimental results in several challenged indoor scenes demonstrate that our proposed approach is capable of providing high-precision SLAM results.

Original languageEnglish (US)
Pages (from-to)119-126
Number of pages8
JournalISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
StatePublished - Jun 3 2016
Externally publishedYes
Event23rd International Society for Photogrammetry and Remote Sensing Congress, ISPRS 2016 - Prague, Czech Republic
Duration: Jul 12 2016Jul 19 2016


  • Occupancy Likelihood Map
  • Scan Matching
  • Simultaneous Localization and Mapping (SLAM)
  • Unmanned Ground Vehicle (UGV)

ASJC Scopus subject areas

  • Environmental Science (miscellaneous)
  • Instrumentation
  • Earth and Planetary Sciences (miscellaneous)


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