Fast method of 3D map building based on laser range data

In this paper, we consider the problem of 3D maps building based on the 3D laser scanner indications. The map of the environmem is represented as a 2D array of cells. Each cell represents rectangular region of the scene and consits of list of objects. The key idea of the system is lines extraction from the raw laser data and assigning them to the proper cells. Based on the lines, a set of objects (planes) is built and assigned to each cell. Objects represent obstacles in the environment. The main advantages of the system are real-time map building and Iow memory consumption. We prove that the system works property in real indoor environment but the system can be extended in order ta buiit the map of uristructured robots surrounding.