一个三维同步定位和地图勘探系统

2011 IEEE International Conference on Robotics and Biomimetics Pub Date : 2011-12-01 DOI:10.1109/ROBIO.2011.6181428

Gregor Michalicek, Denis Klimentjew, Jianwei Zhang

{"title":"一个三维同步定位和地图勘探系统","authors":"Gregor Michalicek, Denis Klimentjew, Jianwei Zhang","doi":"10.1109/ROBIO.2011.6181428","DOIUrl":null,"url":null,"abstract":"In this work we develop a robot system capable of autonomously exploring and mapping an indoor environment. For this we apply a Simultaneous Localization and Mapping (SLAM) algorithm to build up a 3D map and use it to plan the navigation of the robot to further explore the environment. The system is realized in a modular and distributed architecture. Finally, we critically evaluate the system as a whole.","PeriodicalId":341469,"journal":{"name":"2011 IEEE International Conference on Robotics and Biomimetics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"A 3D simultaneous localization and mapping exploration system\",\"authors\":\"Gregor Michalicek, Denis Klimentjew, Jianwei Zhang\",\"doi\":\"10.1109/ROBIO.2011.6181428\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this work we develop a robot system capable of autonomously exploring and mapping an indoor environment. For this we apply a Simultaneous Localization and Mapping (SLAM) algorithm to build up a 3D map and use it to plan the navigation of the robot to further explore the environment. The system is realized in a modular and distributed architecture. Finally, we critically evaluate the system as a whole.\",\"PeriodicalId\":341469,\"journal\":{\"name\":\"2011 IEEE International Conference on Robotics and Biomimetics\",\"volume\":\"7 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 IEEE International Conference on Robotics and Biomimetics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2011.6181428\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 IEEE International Conference on Robotics and Biomimetics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2011.6181428","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 7

摘要

在这项工作中，我们开发了一个能够自主探索和绘制室内环境的机器人系统。为此，我们采用同步定位和映射(SLAM)算法来构建三维地图，并使用它来规划机器人的导航，以进一步探索环境。系统采用模块化、分布式架构实现。最后，我们对整个系统进行批判性评估。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

A 3D simultaneous localization and mapping exploration system

In this work we develop a robot system capable of autonomously exploring and mapping an indoor environment. For this we apply a Simultaneous Localization and Mapping (SLAM) algorithm to build up a 3D map and use it to plan the navigation of the robot to further explore the environment. The system is realized in a modular and distributed architecture. Finally, we critically evaluate the system as a whole.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2011 IEEE International Conference on Robotics and Biomimetics

自引率

0.00%

发文量