Cooperative 3D and 2D Mapping With Heterogenous Ground Robots

被引：3

作者：

Rogers, John G., III ^{[1
]}

Baran, David ^{[2
]}

Stump, Ethan ^{[2
]}

Young, Stuart ^{[2
]}

Christensen, Henrik I. ^{[1
]}

机构：

[1] Georgia Inst Technol, Atlanta, GA 30332 USA

[2] US Army, Res Lab, Adelphi, MD USA

来源：

UNMANNED SYSTEMS TECHNOLOGY XIV | 2012年 / 8387卷

关键词：

Mapping; robot cooperation; heterogenous sensor fusion; DISTRIBUTED MULTIROBOT EXPLORATION;

D O I：

10.1117/12.919270

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Efficient and accurate 3D mapping is desirable in disaster recovery as well as urban warfare situations. The speed with which these maps can be generated is vital to provide situational awareness in these situations. A team of mobile robots can work together to build maps more quickly. We present an algorithm by which a team of mobile robots can merge 2D and 3D measurements to build a 3D map, together with experiments performed at a military test facility.

引用

页数：7

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