Information-Fusion Methods Based Simultaneous Localization and Mapping for Robot Adapting to Search and Rescue Postdisaster Environments

Figure 6

A Pioneer LX robot runs information-fusion SLAM in an experimental cluttered indoor environment. (a) The mobile robot installed LRF sensors, sonars, and gyro odometry is exploring a cluttered environment. (b) The initial metric map. (c) The generated updated map of this environment. the blue and yellow blocks marked are the objects of interest.

(a)

(b)

(c)