Name
Title | ||
|---|---|---|
Indoor scene terrain modeling using multiple range images for autonomous mobile robots |
Abstract | ||
|---|---|---|
The authors consider the perception subsystem of an autonomous mobile robot which must be able to navigate in 3D terrain. They describe their approach to building a rough geometric model of a 3D terrain accounting for the locomotion capabilities of the vehicle, using a laser range finder. This model may be used as direct input for the robot's path planner. The terrain model relies on two grid-based representations: the local elevation map and the local navigation map. Both are incrementally built at arbitrary resolution using new interpolation and localization methods and other 3D vision techniques. The authors validate the proposed approach by presenting some comprehensive results using real range images of an indoor structured environment |
Year | DOI | Venue |
|---|---|---|
1992 | 10.1109/ROBOT.1992.220337 | Nice |
Keywords | Field | DocType |
computer vision,computerised navigation,image processing,mobile robots,position control,3D terrain,3D vision techniques,autonomous mobile robots,indoor scene terrain modelling,interpolation,laser range finder,local elevation map,local navigation map,localization,multiple range images,perception subsystem,rough geometric model | Computer vision,Interpolation,Geometric modeling,Image processing,Artificial intelligence,Mobile robot navigation,Engineering,Robot,Raised-relief map,Grid,Mobile robot | Conference |
Volume | Issue | Citations |
1992 | 1 | 11 |
PageRank | References | Authors |
1.08 | 6 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Fawzi Nashashibi | 1 | 481 | 49.71 |
| Michel Devy | 2 | 542 | 71.47 |
| Philippe Fillatreau | 3 | 41 | 6.24 |