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This paper describes the navigation of a mobile robot in unknown static environments using an omnidirectional stereo and a laser range finder. The robot detects obstacles by the sensors, estimates the ego-motion, integrates the sensor data to generate a probabilistic occupancy map, and plans a safe motion. This paper focuses on the ego-motion estimation and the data integration for map generation. We extend our previous methods to increase the robustness of navigation. Experimental results show the feasibility of our navigation method.
Date of Conference: 28 Sept.-2 Oct. 2004