Title :
Outdoor Mapping Using Mobile Robots and Laser Range Finders
Author :
Hata, Alberto Yukinobu ; Wolf, Denis Fernando
Author_Institution :
Mobile Robot. Lab., Univ. of Sao Paulo, Sao Carlos, Brazil
Abstract :
This paper describes a three-dimensional mapping method to allow the operation of mobile robots in outdoor environments using 2D laser range finders (LRF). Experimental tests demonstrate the accuracy of the presented techniques, allowing for precise models of the environments traversed by the robot. This work also presents preliminary results of terrain classification according to its navigability.
Keywords :
image classification; laser ranging; mobile robots; path planning; robot vision; 2D LRF; 3D mapping method; laser range finder; mobile robot; outdoor mapping; robot navigability; robot vision; terrain classification; Cameras; Laser modes; Mobile robots; Navigation; Remotely operated vehicles; Robot sensing systems; Robot vision systems; Robotics and automation; Terrain mapping; Testing; Mobile robots; environment mapping; laser range finder;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference, 2009. CERMA '09.
Conference_Location :
Cuernavaca, Morelos
Print_ISBN :
978-0-7695-3799-3
DOI :
10.1109/CERMA.2009.12
