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Constructing maps for indoor navigation of a mobile robot by using an active 3D range imaging device

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3 Author(s)
Freyberger, F. ; Lab. for Autom. Control Eng., Tech. Univ. of Munich, Germany ; Kampmann, P. ; Schmidt, G.K.

Presents the related mapping algorithm starting from acquisition of geometrical knowledge from the environment by using a 3D range imaging device. From 3D range images an abstract and compact description of available free motion space is extracted (free space polygon). Subsequent free space polygons are merged into a common map. The effectiveness and correct operation of the presented algorithm is demonstrated by a mapping experiment with the mobile robot MACROBE

Published in:

Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on

Date of Conference:

3-6 Jul 1990