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
fDate :
28 Sept.-2 Oct. 2004
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;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389864
