Environment 3D Map Building

Planar motion assumption: the robot moves on a planar surface.

In this case robot location is described by 3 variables: X₂, Z₂, Th₂ (Y₂ = 0, Phi₂ = 0, Rho₂ = 0).

Planar surfaces assumption: the images contain (vertical) planar surfaces (like walls).

• Environment representation
  
  
• Feature extraction
  
  
• Hough Localization and Image Correlation