从点云数据自动构建多边形地图

2010 IEEE Safety Security and Rescue Robotics Pub Date : 2010-07-26 DOI:10.1109/SSRR.2010.5981571

T. Wiemann, A. Nuchter, K. Lingemann, Stefan Stiene, J. Hertzberg

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引用次数: 28

摘要

提出了一种从三维点云数据中生成多边形地图的新方法。通过对场景的解释，增强了获得的地图。我们的程序快速可靠地生成准确的室内环境地图。这些地图被不同传感器配置的机器人成功地用于可靠的自我定位。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Automatic construction of polygonal maps from point cloud data

This paper presents a novel approach to create polygonal maps from 3D point cloud data. The gained map is augmented with an interpretation of the scene. Our procedure produces accurate maps of indoor environments fast and reliably. These maps are successfully used by different robots with varying sensor configurations for reliable self localization.

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来源期刊

2010 IEEE Safety Security and Rescue Robotics

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