GLOBALLY CONSISTENT MAPPING OF LARGE-SCALE PASSAGEWAY ENVIRONMENTS

被引：0

作者：

Artan, Unal ^{[1
]}

Lavigne, N. James ^{[1
]}

Marshall, Joshua ^{[1
]}

机构：

[1] Carleton Univ, Ottawa, ON K1S 5B6, Canada

来源：

2009 IEEE 22ND CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING, VOLS 1 AND 2 | 2009年

关键词：

Mobile robots; mapping; state estimation; REGISTRATION;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

Navigation and mapping are important subtasks in mobile robotics, particularly in large-scale passageway environments (e.g., in underground mines) where satellite GPS is not available. What makes robotic mapping in such environments especially challenging is the problem of identifying when the robot has returned to an already traversed area. This paper reports on the concept development and implementation of algorithms intended to achieve global consistency in generated maps, which might subsequently be used for navigation purposes. Presented are preliminary results from trials conducted in the Carleton University underground tunnel network using a SICK laser rangefinder and Pioneer P3-DX robot.

引用

页码：378 / 381

页数：4

共 9 条

[1] A METHOD FOR REGISTRATION OF 3-D SHAPES [J].