{"title":"Constructing maps for indoor navigation of a mobile robot by using an active 3D range imaging device","authors":"F. Freyberger, P. Kampmann, G. Schmidt","doi":"10.1109/IROS.1990.262380","DOIUrl":null,"url":null,"abstract":"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.<<ETX>>","PeriodicalId":409624,"journal":{"name":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","volume":"30 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1990-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"20","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1990.262380","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 20
Abstract
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.<>
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