publication . Doctoral thesis . 2007

Regionen & Gateway Kartierung

Schröter, Derik;
Open Access English
  • Published: 10 Jul 2007
  • Publisher: Technical University of Munich
Abstract
State-of-the-art robot mapping approaches are capable of acquiring impressively accurate 2D and 3D models of their environments. To the best of our knowledge, few of them represent structure or acquire models of task-relevant objects. In this work, a new approach to mapping of indoor environments is presented, in which the environment structure in terms of regions and gateways is automatically extracted, while the robot explores. Objects, both in 2D and 3D, are modeled explicitly in those maps and allow for robust localization. We refer to those maps as structured object-oriented environment representations or Region & Gateway Maps (RG Maps). The process of buil...
Subjects
free text keywords: mapping;navigation;3D reconstruction;mobile robots, Kartierung;Navigation;3D Rekonstruktion;mobile Roboter, Informatik, Wissen, Systeme, ddc:000
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