Research of high resolution NDT Grid Map

The goal of this research is to make a map which enables a small robot like ASTERISK to recognize a narrow environment. Then, we made a high-resolution grid map which can describe details of the environment and keep a data amount. To raise the precision of the map, a method to adapt Normal Distributions Transform (NDT) algorithm for the high-resolution grid map is proposed. But, because of false detections of Laser range finder, we cannot know the real position of small objects. A method which removes the false detections generated around a small objects is proposed, By this method, positional accuracy of small obstacles is improved.