Robotics Research

Volume 6 of the series Springer Tracts in Advanced Robotics pp 21-35


A Real-time Algorithm for Acquiring Multi-Planar Volumetric Models with Mobile Robots

  • Sebastian ThrunAffiliated withCarnegie Mellon University
  • , Wolfram BurgardAffiliated withCarnegie Mellon University
  • , Deepayan ChakrabartiAffiliated withCarnegie Mellon University
  • , Rosemary EmeryAffiliated withCarnegie Mellon University
  • , Yufeng LiuAffiliated withCarnegie Mellon University
  • , Christian MartinAffiliated withCarnegie Mellon University

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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.