使用持久3D模型的复杂环境的映射和探索

J. Fournier, B. Ricard, D. Laurendeau
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引用次数: 33

摘要

支持部署在城市环境中的军事力量的一种日益流行的方法是使用自主机器人执行测绘和监视等关键任务。为了应对在这种操作环境中发现的复杂障碍和结构,机器人应该能够在3D中感知和分析他们的世界。本文提出的方法是利用三维体积传感器在自主机器人平台上对城市环境进行高效地图和探索。我们工作的一个关键特征是环境的3D模型在整个过程中使用多分辨率八叉树进行保存。这样,每个模块都可以访问它所包含的信息来完成其任务。通过仿真和实字测试验证了系统的性能,并在论文的最后进行了介绍。
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Mapping and Exploration of Complex Environments Using Persistent 3D Model
An increasingly popular approach to support military forces deployed in urban environments consists in using autonomous robots to carry on critical tasks such as mapping and surveillance. In order to cope with the complex obstacles and structures found in this operational context, robots should be able to perceive and analyze their world in 3D. The method presented in this paper uses a 3D volumetric sensor to efficiency map and explore urban environments with an autonomous robotic platform. A key feature of our work is that the 3D model of the environment is preserved all along the process using a multiresolution octree. This way, every module can access the information it contains to achieve its tasks. Simulation and real word tests were performed to validate the performance of the integrated system and are presented at the end of the paper.
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