Large-Scale Robotic 3-D Mapping of Urban Structures

13 years 8 months ago
Large-Scale Robotic 3-D Mapping of Urban Structures
This article present results for building accurate 3-D maps of urban environments with a mobile Segway RMP. The goal of this project is to use robotic systems to rapidly acquire 3-D maps, which seamlessly integrate indoor and outdoor structures. Our approach is based on an information-solution of the SLAM problem, which enables us to seamlessly integrate GPS, IMU, and scan data. 3-D models acquired by the robot are analyzed for navigability using a multi-grid approach, and visualized using a level set technique. Results are presented for a number of environments, some of which combine indoor and outdoor terrain.
Michael Montemerlo, Sebastian Thrun
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where ISER
Authors Michael Montemerlo, Sebastian Thrun
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