Large-Scale Robotic 3-D Mapping of Urban Structures

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• 作者：Michael Montemerlo ; Sebastian Thrun
• 刊名：Springer Tracts in Advanced Robotics
• 出版年：2006
• 出版时间：2006
• 年：2006
• 卷：21
• 期：1
• 页码：pp.141-150
• 全文大小：2,442 KB
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Control Engineering
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1610-742X

文摘

This article presents results for building accurate 3-D maps of urban environments with a mobile robot based on the Segway scooter. The goal of this project is to use robotic systems to rapidly acquire accurate 3-D maps which seamlessly integrate indoor and outdoor structures. Our approach uses an efficient implementation of the global scan alignment algorithm of Lu and Milios in order to integrate GPS, IMU, and laser data into globally consistent maps. The 3-D models acquired by the robot are analyzed for navigability using a multi-resolution evidence grid approach, and visualized using a meshing algorithm adapted from the computer graphics literature. Results are presented for a number of environments which combine indoor and outdoor terrain.