Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben
KI - Künstliche Intelligenz
Erschienen in: KI - Künstliche Intelligenz 2/2014

01.06.2014 | Technical Contribution

Rough Terrain 3D Mapping and Navigation Using a Continuously Rotating 2D Laser Scanner

verfasst von: Mark Schadler, Jörg Stückler, Sven Behnke

Erschienen in: KI - Künstliche Intelligenz | Ausgabe 2/2014

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

Mapping, real-time localization, and path planning are prerequisites for autonomous robot navigation. These functions also facilitate situation awareness of remote operators. In this paper, we propose methods for efficient 3D mapping and real-time 6D pose tracking of autonomous robots using a continuously rotating 2D laser scanner. We have developed our approach in the context of the DLR SpaceBot Cup robotics challenge. Multi-resolution surfel representations allow for compact maps and efficient registration of local maps. Real-time pose tracking is performed by a particle filter observing individual laser scan lines. Terrain drivability is assessed within a global environment map and used for planning feasible paths. Our approach is evaluated using challenging real environments.
Vorheriger Artikel The Virtual Space Robotics Testbed: Comprehensive Means for the Development and Evaluation of Components for Robotic Exploration Missions
Nächster Artikel Mental Models for Intelligent Systems: eRobotics Enables New Approaches to Simulation-Based AI

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

KI - Künstliche Intelligenz

The Scientific journal "KI – Künstliche Intelligenz" is the official journal of the division for artificial intelligence within the "Gesellschaft für Informatik e.V." (GI) – the German Informatics Society - with constributions from troughout the field of artificial intelligence.

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Jetzt informieren
Weitere Produktempfehlungen anzeigen
Literatur
1.
Anderson S, Barfoot TD (2013) Towards relative continuous-time SLAM. In: IEEE international conference on robotics and automation (ICRA)
2.
Bosse M, Zlot R (2009) Continuous 3D scan-matching with a spinning 2D laser. In: Proceedings of the IEEE international conference on robotics and automation (ICRA), pp 4312–4319
3.
Chen Z (2003) Bayesian filtering: from Kalman filters to particle filters, and beyond. Statistics, pp 1–69
4.
Cole D, Newman P (2006) Using laser range data for 3D SLAM in outdoor environments. In: IEEE international conference on robotics and automation (ICRA)
5.
Dellaert F, Fox D, Burgard W, Thrun S (1999) Monte Carlo localization for mobile robots. In: IEEE international conference on robotics and automation (ICRA)
6.
Elseberg J, Borrmann D, Nuechter A (2012) 6DOF semi-rigid SLAM for mobile scanning. In: IEEE/RSJ international conference on intelligent robots and systems (IROS)
7.
Ferguson D, Likhachev M (2008) Efficiently using cost maps for planning complex maneuvers. In: Proceedings of the ICRA workshop on planning with cost maps
8.
Fox D, Burgard W, Thrun S (1999) Markov localization for mobile robots in dynamic environments. J Artif Intell
9.
Gerkey BP, Konolige K (2008) Planning and control in unstructured terrain. In: Proceedings of the ICRA workshop on path planning on costmaps
10.
Hornung A, Phillips M, Jones EG, Bennewitz M, Likhachev M, Chitta S (2012) Navigation in three-dimensional cluttered environments for mobile manipulation. In: IEEE international conference on robotics and automation (ICRA)
11.
Hornung A, Wurm KM, Bennewitz M, Stachniss C, Burgard W (2013) OctoMap: an efficient probabilistic 3D mapping framework based on octrees. Auton Robots 34:189–206CrossRef
12.
Huang AS, Bachrach A, Henry P, Krainin M, Maturana D, Fox D, Roy N (2011) Visual odometry and mapping for autonomous flight using an RGB-D camera. In: Proceedings of the international symposium on robotics research (ISRR)
13.
Kewlani G, Ishigami G, Iagnemma K (2009) Stochastic mobility-based path planning in uncertain environments. In: IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 1183–1189
14.
Khoshelham K (2010) Automated localization of a laser scanner in indoor environments using planar objects. In: International conference on indoor positioning and navigation
15.
Klaess J, Stueckler J, Behnke S (2012) Efficient mobile robot navigation using 3D surfel grid maps. In: Proceedings of the German conference on robotics (ROBOTIK)
16.
Kuemmerle R, Grisetti G, Strasdat H, Konolige K, Burgard W (2011) G2o: a general framework for graph optimization. In: IEEE international conference on robotics and automation (ICRA), pp 3607–3613
17.
Kuemmerle R, Triebel R, Pfaff P, Burgard W (2007) Monte Carlo localization in outdoor terrains using multi-level surface maps. In: Proceedings of the international conference on field and service robotics (FSR)
18.
Kwak J, Pivtoraiko M, Simmons R (2008) Combining cost and reliability for rough terrain navigation. In: 9th international symposium on artificial intelligence, robotics and automation in space (iSAIRAS)
19.
Lee J, Pippin C, Balch T (2008) Cost based planning with rrt in outdoor environments. In: IEEE/RSJ international conference on intelligent robots and systems (IROS)
20.
Lin KH, Chang CH, Dopfer A, Wang CC (2012) Mapping and localization in 3D environments using a 2D laser scanner and a stereo camera. J Inf Sci Eng 28:131–144MathSciNet
21.
Maddern W, Harrison A, Newman P (2012) Lost in translation (and rotation): fast extrinsic calibration for 2D and 3D LIDARs. In: IEEE international conference on robotics and automation (ICRA)
22.
Magnusson M, Duckett T, Lilienthal A (2007) Scan registration for autonomous mining vehicles using 3D-NDT. J Field Robot 24(10):803–827CrossRef
23.
Nuechter A, Lingemann K, Hertzberg J, Surmann H (2005) 6D SLAM with approximate data association. In: International conference on advanced robotics, pp 242–249
24.
Ryde J, Hu H (2010) 3D mapping with multi-resolution occupied voxel lists. Auton Robots 28:169–185CrossRef
25.
Schwarz M, Behnke S (2014) Local navigation in rough terrain using omnidirectional height. In: Proceedings of the German conference on robotics (ROBOTIK)
26.
Stoyanov T, Lilienthal A (2009) Maximum likelihood point cloud acquisition from a mobile platform. In: International conference on advanced robotics (ICAR), pp 1–6
27.
Stoyanov T, Magnusson M, Andreasson H, Lilienthal AJ (2010) Path planning in 3D environments using the normal distributions transform. In: IEEE/RSJ international conference on intelligent robots and systems (IROS)
28.
Stückler J, Behnke S (2014) Multi-resolution surfel maps for efficient dense 3D modeling and tracking. J Vis Commun Image Represen 25(1):137–147CrossRef
29.
Tong C, Gingras D, Larose K, Barfoot T, Dupuis E (2013) The canadian planetary emulation terrain 3D mapping dataset. Int J Robot Res (IJRR)
30.
Triebel R, Pfaff P, Burgard W (2006) Multi-level surface maps for outdoor terrain mapping and loop closing. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems
Metadaten
Titel
Rough Terrain 3D Mapping and Navigation Using a Continuously Rotating 2D Laser Scanner
verfasst von
Mark Schadler
Jörg Stückler
Sven Behnke
Publikationsdatum
01.06.2014
Verlag
Springer Berlin Heidelberg
Erschienen in
KI - Künstliche Intelligenz / Ausgabe 2/2014
Print ISSN: 0933-1875
Elektronische ISSN: 1610-1987
DOI
https://doi.org/10.1007/s13218-014-0301-8

Weitere Artikel der Ausgabe 2/2014

KI - Künstliche Intelligenz 2/2014 Zur Ausgabe

Editorial

Special Issue on Space Robotics

Research Project

Space-bot 21: Projektüberblick über das space-bot 21-Projekt an der hochschule 21 im Kontext des DLR SpaceBot Cup 2013

Doctoral and Postdoctoral Dissertations

Development, Control, and Empirical Evaluation of the Six-Legged Robot SpaceClimber Designed for Extraterrestrial Crater Exploration

Technical Contribution

Space Robotics: An Overview of Challenges, Applications and Technologies

Community - Special Issue: Space Robotics

Community––Special Issue: Space Robotics

Technical Contribution

The Virtual Space Robotics Testbed: Comprehensive Means for the Development and Evaluation of Components for Robotic Exploration Missions