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Autonomous Exploration Using Kinect and Laser Range Finder

  • Jingjing Du
  • Marina Indri
  • Douwe Dresscher
  • Stefano Stramigioli
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)

Abstract

Autonomous exploration has received a large attention in robotic community. The problem of building and maintaining a 2D map (such as an occupancy grid map or a topological map) has reached a recognized level of maturity, if an adequate sensor, like a laser range finder, is available. However, autonomous motion in indoor environments, possibly cluttered and dynamic for the presence of people and other objects, requires the construction of a 3D map to let the mobile robot reacts in real time to dynamic changes and obstacles to be avoided.

References

  1. 1.
    Engelhard, N., Endres, F., Hess, J., Sturm, J., Burgard, W.: Real-time 3D visual SLAM with a hand-held RGB-D camera. In: RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum, Vasteras, Sweden (April 2011)Google Scholar
  2. 2.
    Carlone, L., Du, J., Ng, M.K., Bona, B., Indri, M.: An application of Kullback-Leibler divergence to active SLAM and exploration with particle filters. In: IEEE lnt. Conf. on Intelligent Robots and Systems (IROS), pp. 287–293 (2010)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Jingjing Du
    • 1
  • Marina Indri
    • 1
  • Douwe Dresscher
    • 2
  • Stefano Stramigioli
    • 2
  1. 1.Dipartimento di Automatica e InformaticaPolitecnico di TorinoTorinoItaly
  2. 2.Robotics and MechatronicsUniversity of TwenteEnschedeNetherlands

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