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.
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© 2003 Springer-Verlag Berlin Heidelberg
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Thrun, S., Burgard, W., Chakrabarti, D., Emery, R., Liu, Y., Martin, C. (2003). A Real-time Algorithm for Acquiring Multi-Planar Volumetric Models with Mobile Robots. In: Jarvis, R.A., Zelinsky, A. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36460-9_2
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DOI: https://doi.org/10.1007/3-540-36460-9_2
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