Skip to main content
Book cover

International Conference on Spatial Cognition

Spatial Cognition 2012: Spatial Cognition VIII pp 114–127Cite as

Towards Geometric Mapping for Semi-autonomous Mobile Robots

  • Conference paper

Part of the Lecture Notes in Computer Science book series (LNAI,volume 7463)

Abstract

Semi-autonomous mobile robots are a promising alternative for tasks that are too challenging for autonomous robots. Especially in an unstructured environment, full autonomy is still far from being realized. In order to enable the human operator to control the robot properly, visualization of the environment is crucial. In this paper, we introduce a pipeline for geometric mapping that uses narrow field of view RGB-D cameras as input source and builds a geometric map of the environment while the robot either is operated manually or moves autonomously. Geometric shapes are extracted from subsequent sensor frames and are clipped and merged in a geometric feature map. Evaluation is done both in simulation and on the real robot.

Keywords

  • Point Cloud
  • Iterative Close Point
  • Iterative Close Point
  • Kinect Camera
  • Common Coordinate System

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.

This is a preview of subscription content, access via your institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • DOI: 10.1007/978-3-642-32732-2_7
  • Chapter length: 14 pages
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
eBook
USD   64.99
Price excludes VAT (USA)
  • ISBN: 978-3-642-32732-2
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book
USD   84.99
Price excludes VAT (USA)
Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Rusu, R.B., Blodow, N., Marton, Z.C., Beetz, M.: Close-range scene segmentation and reconstruction of 3D point cloud maps for mobile manipulation in domestic environments. In: Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1–6 (2009)

    Google Scholar 

  2. Rusu, R.B., Marton, Z.C., Blodow, N., Holzbach, A., Beetz, M.: Model-based and learned semantic object labeling in 3D point cloud maps of kitchen environments. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, USA (2009)

    Google Scholar 

  3. Nüchter, A., Surmann, H., Hertzberg, J.: Automatic model refinement for 3D reconstruction with mobile robots. In: 3DIM 2003, pp. 394–401. IEEE Computer Society, Los Alamitos (2003)

    Google Scholar 

  4. Henry, P., Krainin, M., Herbst, E., Ren, X., Fox, D.: RGB-D mapping: Using depth cameras for dense 3D modeling of indoor environments. In: The 12th International Symposium on Experimental Robotics (ISER) (2010)

    Google Scholar 

  5. Thrun, S., Hahnel, D., Ferguson, D., Montemerlo, M., Triebel, R., Burgard, W., Baker, C., Omohundro, Z., Thayer, S., Whittaker, W.: A system for volumetric robotic mapping of abandoned mines. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2003, vol. 3, pp. 4270–4275 (2003)

    Google Scholar 

  6. Carff, J., Johnson, M., El-Sheikh, E., Pratt, J.: Human-robot team navigation in visually complex environments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 3043–3050 (2009)

    Google Scholar 

  7. Cherubini, A., Oriolo, G., Macri, F., Aloise, F., Babiloni, F., Cincotti, F., Mattia, D.: Development of a multimode navigation system for an assistive robotics project, pp. 2336–2342. IEEE (April 2007)

    Google Scholar 

  8. Goodfellow, I., Koenig, N., Muja, M., Pantofaru, C., Sorokin, A., Takayama, L.: Help me help you: interfaces for personal robots. In: Proceedings of the 5th ACM/IEEE International Conference on Human-Robot Interaction, pp. 187–188 (2010)

    Google Scholar 

  9. Pitzer, B., Styer, M., Bersch, C., DuHadway, C., Becker, J.: Towards perceptual shared autonomy for robotic mobile manipulation. In: ICRA, pp. 6245–6251 (2011)

    Google Scholar 

  10. Arbeiter, G., Hägele, M., Verl, A.: Incremental field of view dependent registration of point clouds and extraction of table-tops. In: 2011 IEEE/ICRA International Conference on Robotics and Automation (ICRA 2011), Workshop on Semantic Perception, Mapping and Exploration (2011)

    Google Scholar 

  11. Holwerda, K.: Complete boolean description (1998), http://boolean.klaasholwerda.nl/algdoc/top.html

  12. Schutte, K.: Knowledge Based Recognition of Man-Made Objects. PhD thesis, University of Twente (1994)

    Google Scholar 

  13. Zalik, B., Gombosi, M., Podgorelec, D.: A quick intersection algorithm for arbitrary polygons. In: SCCG 1998 Conf. on Comput. Graphics and it’s Applicat., pp. 195–204 (1998)

    Google Scholar 

  14. Leonov, M.: PolyBoolean . comparison.... (1998), http://www.complex-a5.ru/polyboolean/comp.html

  15. Vatti, B.R.: A generic solution to polygon clipping. Commun. ACM 35, 56–63 (1992)

    CrossRef  Google Scholar 

  16. Luck, J., Little, C., Hoff, W.: Registration of range data using a hybrid simulated annealing and iterative closest point algorithm. In: IEEE International Conference on Robotics and Automation, vol. 4, pp. 3739–3744 (2000)

    Google Scholar 

  17. Parlitz, C., Hägele, M., Klein, P., Seifert, J., Dautenhahn, K.: Care-o-bot 3 - rationale for human-robot interaction design. In: Proceedings of 39th International Symposium on Robotics (ISR), Seoul, Korea (2008)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute for Manufacturing Engineering and Automation, Fraunhofer IPA, 70569, Stuttgart, Germany

    Georg Arbeiter, Richard Bormann, Jan Fischer, Martin Hägele & Alexander Verl

Authors
  1. Georg Arbeiter
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Richard Bormann
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Jan Fischer
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Martin Hägele
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Alexander Verl
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Institute of Computer Science, Albert-Ludwigs-University, Georges-Koehler-Allee 79, 79110, Freiburg, Germany

    Cyrill Stachniss

  2. Cognitive Neuroinformatics, University of Bremen, Enrique-Schmidt-Str. 5, 28359, Bremen, Germany

    Kerstin Schill

  3. Department of Psychology and School of Education and Social Policy, Northwestern University, 2029 Sheridan Road, 60208-2710, Evanston, IL, USA

    David Uttal

Rights and permissions

Reprints and Permissions

Copyright information

© 2012 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Arbeiter, G., Bormann, R., Fischer, J., Hägele, M., Verl, A. (2012). Towards Geometric Mapping for Semi-autonomous Mobile Robots. In: Stachniss, C., Schill, K., Uttal, D. (eds) Spatial Cognition VIII. Spatial Cognition 2012. Lecture Notes in Computer Science(), vol 7463. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32732-2_7

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-32732-2_7

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32731-5

  • Online ISBN: 978-3-642-32732-2

  • eBook Packages: Computer ScienceComputer Science (R0)