Tampere University of Technology

TUTCRIS Research Portal

Mapping, Localization and Navigation Improvements by Using Manipulated Floor Plan and ROS-Based Mobile Robot Parameters

Research output: Contribution to journalReview ArticleScientificpeer-review


Original languageEnglish
Article numberJMESTN42352708
Pages (from-to)8910-8918
Number of pages9
JournalJournal of Multidisciplinary Engineering Science and Technology
Issue number10
Publication statusPublished - 31 Oct 2018
Publication typeA2 Review article in a scientific journal


Indoor environment mapping is one of the obvious benefit that can be assigned for service mobile robots. With an extensive set of parameters provided by Robot Operating System (ROS), the robotic system user can set core tasks to improve the quality and usability of the received environmental grid map. This has an
evident impact for the robot teleoperating, map scale, and significantly, in avoiding discontinuities and inaccuracy objects of the generated map—that is to say the more accurate the map is—the more straightforward the autonomous navigation is. The use of an original floor plan instead of map obtained by the robot is one worthwhile option. Floor plans can be manipulated by using a generic image processing software in that case where the received map has
unidentifiable areas due to the robot’s 3D sensor unable to detect. This paper presents ROS-based indoor environment mapping, localization and autonomous navigation factors in the Open Cloud Robotic Platform (OpenCRP) ecosystem, a cloud robotics project upon an open-source basis, experimented with a TurtleBot II mobile robot. Moreover, a method for manipulating the floor plan is presented in this work.


  • mapping, localization, autonomous navigation, mobile robot, ROS

Publication forum classification