Weingarten, J.Siegwart, R.2006-12-072006-12-072006-12-07200610.1109/IROS.2006.282245https://infoscience.epfl.ch/handle/20.500.14299/237787WOS:000245452403034This paper presents an improved feature-based 3D SLAM approach for a mobile robot equipped with a rotating laser scanner. The features are represented within the SPmodel, with associated planar segment information based on decimated triangle sets. An Extended Kalman Filter is used to build a three-dimensional map of the environment and track the robot\'s pose along with involved uncertainties. As shown, the resulting maps are highly detailed, useful for higher-level robotic tasks and small in size.text::conference output::conference proceedings::conference paper