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Hierarchies of Octrees for Efficient 3D Mapping
- In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’11
, 2011
"... Abstract — In this paper, we present a novel multi-resolution approach to efficiently mapping 3D environments. Our repre-sentation models the environment as a hierarchy of probabilistic 3D maps, in which each submap is updated and transformed individually. In addition to the formal description of th ..."
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Abstract — In this paper, we present a novel multi-resolution approach to efficiently mapping 3D environments. Our repre-sentation models the environment as a hierarchy of probabilistic 3D maps, in which each submap is updated and transformed individually. In addition to the formal description of the approach, we present an implementation for tabletop manip-ulation tasks and an information-driven exploration algorithm for autonomously building a hierarchical map from sensor data. We evaluate our approach using real-world as well as simulated data. The results demonstrate that our method is able to efficiently represent 3D environments at high levels of detail. Compared to a monolithic approach, our maps can be generated significantly faster while requiring significantly less memory. I.
Autonomous navigation using a real-time 3D point cloud
- in 2010 Australasian Conference on Robotics and Automation
"... This paper presents a system for autonomous navigation of a mobile robot in an unknown environment based on the fusion of a continuously updated point cloud with proprioceptive sensors (IMU and encoders). A SICK LMS100 series laser is used to generate a wide field of view point cloud which is transm ..."
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This paper presents a system for autonomous navigation of a mobile robot in an unknown environment based on the fusion of a continuously updated point cloud with proprioceptive sensors (IMU and encoders). A SICK LMS100 series laser is used to generate a wide field of view point cloud which is transmitted to a ground control station for visualisation during teleoperation. The point cloud is also used to generate an occupancy grid on which an efficient path planning algorithm is run in realtime. The advantages of this system are its efficiency, flexibility and quick coverage of a large unknown environment. Experiments show the ability of the system to map out a large area while navigating autonomously to a target position. 1
S.: Multi-resolution surfel mapping and realtime pose tracking using a continuously rotating 2D laser scanner
- In: Proc. of 11th IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR) (2013
"... Abstract—Mapping and real-time localization are prereq-uisites for autonomous robot navigation. They also facilitate situation awareness of remote operators in exploration or rescue missions. In this paper, we propose methods for efficient 3D mapping of environments and for tracking in real-time the ..."
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Abstract—Mapping and real-time localization are prereq-uisites for autonomous robot navigation. They also facilitate situation awareness of remote operators in exploration or rescue missions. In this paper, we propose methods for efficient 3D mapping of environments and for tracking in real-time the 6D movement of autonomous robots using a continuously rotating 3D laser scanner. Multi-resolution surfel representations allow for compact storage and efficient registration of local maps. Real-time pose tracking is performed by a particle filter based on individual laser scan lines. We evaluate our approach using both data generated in simulation and measurements from challenging real environments. I.
11 3D Cameras: 3D Computer Vision of wide Scope
"... The human visual sense is the one among all other senses that gathers most information we receive. Evolution has optimized our visual system to negotiate one's way in three dimensions even through cluttered environments. For perceiving 3D information, the human brain uses three important princi ..."
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The human visual sense is the one among all other senses that gathers most information we receive. Evolution has optimized our visual system to negotiate one's way in three dimensions even through cluttered environments. For perceiving 3D information, the human brain uses three important principles: stereo vision, motion parallax and a-priori
