Title :
Constructing maps for indoor navigation of a mobile robot by using an active 3D range imaging device
Author :
Freyberger, Franz ; Kampmann, Peter ; Schmidt, Gunther
Author_Institution :
Lab. for Autom. Control Eng., Tech. Univ. of Munich, Germany
Abstract :
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
Keywords :
computational geometry; knowledge acquisition; mobile robots; navigation; pattern recognition; planning (artificial intelligence); MACROBE; abstract; active 3D range imaging device; compact description; free motion space; free space polygon; geometrical knowledge acquisition; indoor navigation; machine vision; mobile robot; path planning; related mapping algorithm; Floors; Intelligent robots; Intelligent sensors; Laboratories; Mobile robots; Navigation; Orbital robotics; Path planning; Robot sensing systems; Robotic assembly;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262380
