利用有源三维距离成像装置构建移动机器人室内导航地图

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262380

F. Freyberger, P. Kampmann, G. Schmidt

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引用次数: 20

摘要

从利用三维距离成像装置从环境中获取几何知识入手，提出了相关的映射算法。从三维距离图像中提取可用自由运动空间的抽象而紧凑的描述(自由空间多边形)。随后的自由空间多边形被合并成一个公共地图。通过移动机器人MACROBE的映射实验，验证了该算法的有效性和正确性。

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Constructing maps for indoor navigation of a mobile robot by using an active 3D range imaging device

Presents the related mapping algorithm starting from acquisition of geometrical knowledge from the environment by using a 3D range imaging device. From 3D range images an abstract and compact description of available free motion space is extracted (free space polygon). Subsequent free space polygons are merged into a common map. The effectiveness and correct operation of the presented algorithm is demonstrated by a mapping experiment with the mobile robot MACROBE.<>

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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