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
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;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181428
