Building of 3D Environment Models for Mobile Robotics Using Self-organization

  • Jan Koutník
  • Roman Mázl
  • Miroslav Kulich
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4193)


In this paper, we present a new parallel self-organizing technique for three dimensional shape reconstruction for mobile robotics. The method is based on adaptive input data decomposition, parallel shape reconstruction in decomposed clusters using Kohonen Self-Organizing Map, which creates mesh representation of the input data. Afterwards, the sub-maps are joined together and the final mesh is re-optimized. Our method overcomes a problem of fitting one mesh to complex non-continuous shapes like building interiors. The method allows to process unordered data collected by mobile robots. The method is easily paralelizable and gives promising results.


Mobile Robot Mobile Robotic Autonomous Mobile Robot Rectangular Mesh Best Match Unit 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Jan Koutník
    • 1
  • Roman Mázl
    • 2
  • Miroslav Kulich
    • 2
  1. 1.Neural Computing Group, Department of Computer Science and Engineering, Faculty of Electrical EngineeringCzech Technical University in PraguePrague 2Czech Republic
  2. 2.Center of Applied Cybernetics, Faculty of Electrical EngineeringCzech Technical University in PraguePrague 6Czech Republic

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