A volumetric sensor for real-time 3D mapping and robot navigation

Fournier, Jonathan; Ricard, Benoit; Laurendeau, Denis

doi:10.1117/12.666612

Cited by 1 publication

(2 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The cam is cut to control linearly the tilt from -45 • to +10 • (55 • vertical span). The key feature of this system is that both cylinders are driven by the same motor, with different gear ratio, providing mechanical synchronization of azimuthal and vertical scanning motion, as explained in [5]. The resulting scanning pattern is a screw-like path as shown in Figure 2(b).…”

Section: Principle Of Operationmentioning

confidence: 97%

See 1 more Smart Citation

Mapping and Exploration of Complex Environments Using Persistent 3D Model

Fournier

Ricard

Laurendeau

2007

Fourth Canadian Conference on Computer and Robot Vision (CRV '07)

Self Cite

View full text Add to dashboard Cite

An increasingly popular approach to support military forces deployed in urban environments consists in using autonomous robots to carry on critical tasks such as mapping and surveillance. In order to cope with the complex obstacles and structures found in this operational context, robots should be able to perceive and analyze their world in 3D. The method presented in this paper uses a 3D volumetric sensor to efficiency map and explore urban environments with an autonomous robotic platform. A key feature of our work is that the 3D model of the environment is preserved all along the process using a multiresolution octree. This way, every module can access the information it contains to achieve its tasks. Simulation and real word tests were performed to validate the performance of the integrated system and are presented at the end of the paper.

show abstract

Section: Principle Of Operationmentioning

confidence: 97%

“…These states are: strictly occupied, unknown-occupied, strictly unknown, unknownempty and strictly empty. The value assigned to a cell is selected according to decision rules [5] that takes into ac- count the number of voxels found in the column for each of the available states.…”

Section: Generation Of the 25d Mapmentioning

confidence: 99%