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IROS
2009
IEEE

3D mapping for urban service robots

8 years 12 months ago
3D mapping for urban service robots
— We present an approach to the problem of 3D map building in urban settings for service robots, using threedimensional laser range scans as the main data input. Our system is based on the probabilistic alignment of 3D point clouds employing a delayed-state information-form SLAM algorithm, for which we can add observations of relative robot displacements efficiently. These observations come from the alignment of dense range data point clouds computed with a variant of the iterative closest point algorithm. The datasets were acquired with our custom built 3D range scanner integrated into a mobile robot platform. Our mapping results are compared to a GISbased CAD model of the experimental site. The results show that our approach to 3D mapping performs with sufficient accuracy to derive traversability maps that allow our service robots navigate and accomplish their assigned tasks on a urban pedestrian area.
Rafael Valencia, Ernesto Homar Teniente Avil&eacut
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Rafael Valencia, Ernesto Homar Teniente Avilés, Eduard Trulls, Juan Andrade-Cetto
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