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Lidar-based SLAM systems perform well in a wide range of circumstances byrelying on the geometry of the environment. However, even mature and reliableapproaches struggle when the environment contains structureless areas such aslong hallways. To allow the use of lidar-based SLAM in such environments, wepropose to add reflector markers in specific locations that would otherwise bedifficult. We present an algorithm to reliably detect these markers and twoapproaches to fuse the detected markers with geometry-based scan matching. Theperformance of the proposed methods is demonstrated on real-world datasets fromseveral industrial environments.

When Geometry is not Enough: Using Reflector Markers in Lidar SLAM