DocumentCode
1719739
Title
A 3D simultaneous localization and mapping exploration system
Author
Michalicek, Gregor ; Klimentjew, Denis ; Zhang, Jianwei
Author_Institution
Dept. of Inf., Univ. of Hamburg, Hamburg, Germany
fYear
2011
Firstpage
1059
Lastpage
1065
Abstract
In this work we develop a robot system capable of autonomously exploring and mapping an indoor environment. For this we apply a Simultaneous Localization and Mapping (SLAM) algorithm to build up a 3D map and use it to plan the navigation of the robot to further explore the environment. The system is realized in a modular and distributed architecture. Finally, we critically evaluate the system as a whole.
Keywords
SLAM (robots); mobile robots; path planning; robot vision; 3D map; 3D simultaneous localization and mapping exploration system; SLAM algorithm; distributed architecture; indoor environment; modular architecture; robot navigation plan; robot system; Extremities; Iterative closest point algorithm; Simultaneous localization and mapping; Skeleton; Three dimensional displays;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location
Karon Beach, Phuket
Print_ISBN
978-1-4577-2136-6
Type
conf
DOI
10.1109/ROBIO.2011.6181428
Filename
6181428
Link To Document