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3D mapping for urban service robots

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hdl:2117/6935

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Valencia Carreño, Rafael
Teniente López, ErnestMés informacióMés informacióMés informació
Trulls Fortuny, Eduard
Andrade-Cetto, JuanMés informacióMés informacióMés informació
Document typeConference report
Defense date2009-10-11
PublisherIEEE Press. Institute of Electrical and Electronics Engineers
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
Abstract
We present an approach to the problem of 3D map building in urban settings for service robots, using threedimensional laser range scans as the main data input. Our system is based on the probabilistic alignment of 3D point clouds employing a delayed-state information-form SLAM algorithm, for which we can add observations of relative robot displacements efficiently. These observations come from the alignment of dense range data point clouds computed with a variant of the iterative closest point algorithm. The datasets were acquired with our custom built 3D range scanner integrated into a mobile robot platform. Our mapping results are compared to a GISbased CAD model of the experimental site. The results show that our approach to 3D mapping performs with sufficient accuracy to derive traversability maps that allow our service robots navigate and accomplish their assigned tasks on a urban pedestrian area.
CitationValencia, R. [et al.]. 3D mapping for urban service robots. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2009 : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems". St. Louis, MO: IEEE Press. Institute of Electrical and Electronics Engineers, 2009, p. 3076-3081. 
URIhttp://hdl.handle.net/2117/6935
ISBN978-1-4244-3804-4
Publisher versionhttp://dx.doi.org/10.1109/IROS.2009.5354277
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  • VIS - Visió Artificial i Sistemes Intel·ligents - Ponències/Comunicacions de congressos [300]
  • Departament d'Enginyeria de Serveis i Sistemes d'Informació - Ponències/Comunicacions de congressos [560]
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