CARTO is an autonomous mapping robot made to rapidly generate functional floor plans of buildings without any user interaction. To accomplish this task, we employ a medley of different technologies. A laser range finder (LRF or LIDAR) is used in detecting surface distance and reflectivity and this information is stitched together to create a point cloud. The final point cloud can contain millions of data points that make up a room, building, or landscape. Through advanced software processing, these point clouds are reduced to simple lines and geometries to develop a 2D map of the building. Completeness algorithms analyze the map and determine necessary scanning locations based on gaps in the 2D data. The robotic platform in CARTO takes over motion goals and allows the system to navigate to where it needs to scan next. With each scan the floor plan becomes more complete, eventually resulting in a finished 2D floor plan similar to a blueprint.

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