A Real-time Algorithm for Acquiring Multi-Planar Volumetric Models with Mobile Robots
Conference Paper, Proceedings of 10th International Symposium of Robotics Research (ISRR '01), pp. 21 - 35, November, 2001
Abstract
This paper summarizes recent research on developing autonomous robot systems than can acquire volumetric 3D maps with mobile robots in real-time. The core of our system is a real-time version of the popular expectation algorithm, developed for extracting scalar surfaces from sets of range scans (Martin, Thrun, 2002). Maps generated by this algorithm consists of a small number of planar rectangular surfaces, which are augmented by fine-grained polygons for non-flat environmental features. Experimental results obtained in a corridor-type environment illustrate that compact and accurate maps can be acquired in real-time from range and camera data.
BibTeX
@conference{Thrun-2001-127894,author = {Sebastian Thrun and Wolfram Burgard and Deepayan Chakrabarti and Rosemary Emery and Yufeng Liu and Christian Martin},
title = {A Real-time Algorithm for Acquiring Multi-Planar Volumetric Models with Mobile Robots},
booktitle = {Proceedings of 10th International Symposium of Robotics Research (ISRR '01)},
year = {2001},
month = {November},
pages = {21 - 35},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.