Title :
Automatic construction of polygonal maps from point cloud data
Author :
Wiemann, Thomas ; Nuchter, Andreas ; Lingemann, Kai ; Stiene, Stefan ; Hertzberg, Joachim
Author_Institution :
Knowledge-Based Syst. Res. Group, Univ. of Osnabruck, Osnabruck, Germany
Abstract :
This paper presents a novel approach to create polygonal maps from 3D point cloud data. The gained map is augmented with an interpretation of the scene. Our procedure produces accurate maps of indoor environments fast and reliably. These maps are successfully used by different robots with varying sensor configurations for reliable self localization.
Keywords :
mobile robots; path planning; 3D point cloud data; indoor environments; polygonal maps automatic construction; selflocalization;
Conference_Titel :
Safety Security and Rescue Robotics (SSRR), 2010 IEEE International Workshop on
Conference_Location :
Bremen
Print_ISBN :
978-1-4244-8898-8
Electronic_ISBN :
978-1-4244-8899-5
DOI :
10.1109/SSRR.2010.5981571
