© 2009

3D Robotic Mapping

The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom


  • Complete treatment of 3 dimensional robotic mapping

  • Presents the Simultaneous Localization and Mapping Problem with Six Degrees of Freedom

  • Presents the algorithms needed for automatic semantic 3D map building using a 3D laser range finder and the mobile robot Kurt3D


Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 52)

Table of contents

  1. Front Matter
  2. Andreas Nüchter
    Pages 1-8
  3. Andreas Nüchter
    Pages 9-28
  4. Andreas Nüchter
    Pages 29-34
  5. Andreas Nüchter
    Pages 35-76
  6. Andreas Nüchter
    Pages 77-108
  7. Andreas Nüchter
    Pages 109-154
  8. Andreas Nüchter
    Pages 155-172
  9. Andreas Nüchter
    Pages 173-176
  10. Back Matter

About this book


The monograph written by Andreas Nüchter is focused on acquiring spatial models of physical environments through mobile robots. The robotic mapping problem is commonly referred to as SLAM (simultaneous localization and mapping). 3D maps are necessary to avoid collisions with complex obstacles and to self-localize in six degrees of freedom
(x-, y-, z-position, roll, yaw and pitch angle). New solutions to the 6D SLAM problem for 3D laser scans are proposed and a wide variety of applications are presented.


3D Laser Scanning Robot Vision Robotic Cameras Scan Registration Simultaneous Localization and Mapping (SLAM) mobile robot robot semantics

Authors and affiliations

  1. 1.Jacobs University BremenGermany

Bibliographic information

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From the reviews:

“The book 3D Robotic Mapping by Andreas Nüchter represents an excellent reference for any roboticist working in the area of Simultaneous Localization and Mapping, especially those interested in 3D map building. … The book’s intended target audience is large, ranging from undergraduate students to postdoctoral researchers keen on learning or working on this topic. … I strongly recommend this book as a good introduction and reference material for 3D perception and mapping with mobile robots.”­­­ (Radu Bogdan Rusu, Künstliche Intelligenz, Vol. 24, June, 2010)