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IROS
2009
IEEE

3D feature based mapping towards mobile robots' enhanced performance in rescue missions

10 years 6 months ago
3D feature based mapping towards mobile robots' enhanced performance in rescue missions
— This paper presents a feature based 3D mapping approach with regard to obtaining compact models of semistructured environments such as partially destroyed buildings where mobile robots are to carry out rescue activities. To gather the 3D data, we use a laser scanner, employing a nodding data acquisition system mounted on both real and simulated robots. Our segmentation algorithm comes up from the integration of computer vision techniques, allowing for a fast separation of points corresponding to different, not necessarily planar, surfaces. The subsequent extraction of geometrical features out of each region’s points is done by means of least-squares fitting. A Maximum Incremental Probability algorithm formulated upon the Extended Kalman Filter provides 6D localization and produces a map of planar patches with a convex-hull based representation. Scenarios from the Unified System for Automation and Robot Simulation (USARSim), including world models from past RoboCup Rescue editio...
Paloma de la Puente, Diego Rodríguez-Losada
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Paloma de la Puente, Diego Rodríguez-Losada, Alberto Valero, Fernando Matía
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