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

fYear

1990

fDate

3-6 Jul 1990

Firstpage

143

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on

Conference_Location

Ibaraki

Type

conf

DOI

10.1109/IROS.1990.262380

Filename

262380