Intelligent Service Robotics

, Volume 4, Issue 2, pp 119–134 | Cite as

A novel 3D sensory system for robot-assisted mapping of cluttered urban search and rescue environments

Original Research Paper


In this paper, the first application of utilizing a unique 3D sensor for sequential 3D map building in unknown cluttered urban search and rescue (USAR) environments is proposed. The sensor utilizes a digital fringe projection and phase shifting technique to provide real-time 2D and 3D sensory information of the environment. The proposed sensor is unique over current technologies in that high-resolution 3D information of rubble filled environments can be acquired from the single sensor at a speed of 30 frames per second (fps). Furthermore, we propose the development of a novel robust and reliable landmark identification technique that utilizes both 2D and 3D depth images taken by the sensor for 3D mapping. Preliminary experiments show the potential of the real-time 3D sensory system and landmark identification scheme for robotic 3D mapping in unknown cluttered USAR-like environments.


Urban search and rescue Structured light sensing Landmark identification 3D mapping 


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Copyright information

© Springer-Verlag 2010

Authors and Affiliations

  • Zhe Zhang
    • 1
  • Goldie Nejat
    • 2
    • 3
  • Hong Guo
    • 3
  • Peisen Huang
    • 3
  1. 1.Autonomous Systems Laboratory, Department of Mechanical EngineeringThe State University of New York at Stony BrookStony BrookUSA
  2. 2.Department of Mechanical and Industrial EngineeringUniversity of TorontoTorontoCanada
  3. 3.Department of Mechanical EngineeringThe State University of New York at Stony BrookStony BrookUSA

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