DocumentCode
426319
Title
Colored 2D maps for robot navigation with 3D sensor data
Author
Wulf, Oliver ; Brenneke, Christian ; Wagner, Bernardo
Author_Institution
Inst. for Syst. Eng., Hannover Univ., Germany
Volume
3
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
2991
Abstract
This paper presents a navigation system for mobile service robots working in urban environments. The system combines a 3D laser sensor with 2D algorithms for path planning and simultaneous localization and mapping (SLAM). In contrast to other map representations the colored 2D map, first presented in this paper, is able to hold information adapted to both localization and path planning. The functionality of our approach is demonstrated by an experiment for online navigation with 3D data.
Keywords
adaptive systems; computerised navigation; intelligent robots; mobile robots; path planning; service robots; 3D laser sensor; 3D sensor data; colored 2D map; mobile service robots; path planning; robot navigation; simultaneous localization and mapping; Clouds; Data engineering; Feature extraction; Path planning; Robot sensing systems; Sensor systems; Service robots; Simultaneous localization and mapping; Sonar navigation; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389864
Filename
1389864
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