Motivation

• Precise digital 3D models of indoor environments are needed in several applications, e.g., facility management, architecture, rescue and inspection robotics.

• Autonomous mobile robots equipped with 3D laser scanners are well suited for gaging the 3D data.

• They need an efficient exploration scheme and reliable motor control, since the mount of the acquired data is huge. Example: 3D scan of 180°x130° result in ~300000Pts