3D mapping with semantic knowledge
| Autor(en): | Nuechter, Andreas Wulf, Oliver Lingemann, Kai Hertzberg, Joachim Wagner, Bernardo Surmann, Hartmut |
Herausgeber: | Bredenfeld, A Jacoff, A Noda, I Takahashi, Y |
Stichwörter: | Computer Science; Computer Science, Artificial Intelligence; Robotics | Erscheinungsdatum: | 2006 | Herausgeber: | SPRINGER-VERLAG BERLIN | Journal: | ROBOCUP 2005: ROBOT SOCCER WORLD CUP IX Lecture Notes in Artificial Intelligence |
Volumen: | 4020 | Startseite: | 335 | Seitenende: | 346 | Zusammenfassung: | A basic task of rescue robot systems is mapping of the environment. Localizing injured persons, guiding rescue workers and excavation equipment requires a precise 3D map of the environment. This paper presents a new 3D laser range finder and novel scan matching method for the robot Kurt3D [9]. Compared to previous machinery [12], the apex angle is enlarged to 360 degrees. The matching is based on semantic information. Surface attributes are extracted and incorporated in a forest of search trees in order to associate the data, i.e., to establish correspondences. The new approach results in advances in speed and reliability. |
Beschreibung: | 9th International Robocup Symposium, Osaka, JAPAN, JUL 18-19, 2005 |
ISBN: | 9783540354376 | ISSN: | 03029743 |
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