scholarly journals A new terrain mapping method for mobile robots obstacle negotiation

2003 ◽  
Author(s):  
Cang Ye ◽  
Johann Borenstein
Keyword(s):  
Mobile Robots ◽  
Mapping Method ◽  
Terrain Mapping

scholarly journals Efficient Planar Surface-Based 3D Mapping Method for Mobile Robots Using Stereo Vision

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 73593-73601 ◽  
Author(s):  
Binghua Guo ◽  
Hongyue Dai ◽  
Zhonghua Li ◽  
Wei Huang
Keyword(s):  
Mobile Robots ◽  
Stereo Vision ◽  
Mapping Method ◽  
3D Mapping ◽  
Planar Surface

scholarly journals RGB–D terrain perception and dense mapping for legged robots

2016 ◽  
Vol 26 (1) ◽  
pp. 81-97 ◽  
Author(s):  
Dominik Belter ◽  
Przemysław Łabecki ◽  
Péter Fankhauser ◽  
Roland Siegwart
Keyword(s):  
Stereo Vision ◽  
Uncertainty Propagation ◽  
Depth Map ◽  
Mapping Method ◽  
Spatial Uncertainty ◽  
Legged Robots ◽  
Walking Robots ◽  
Terrain Mapping ◽  
Terrain Elevation ◽  
Uncertainty Models

Abstract This paper addresses the issues of unstructured terrain modeling for the purpose of navigation with legged robots. We present an improved elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities. We propose an extension of the elevation grid update mechanism by incorporating a formal treatment of the spatial uncertainty. Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used to produce a dense depth map. The model for the uncertainty of the stereo vision camera is based on uncertainty propagation from calibration, through undistortion and rectification algorithms, allowing calculation of the uncertainty of measured 3D point coordinates. The proposed uncertainty models were used for the construction of a terrain elevation map using the Videre Design STOC stereo vision camera and Kinect-like range sensors. We provide experimental verification of the proposed mapping method, and a comparison with another recently published terrain mapping method for walking robots.

Visual terrain mapping for traversable path planning of mobile robots

2004 ◽  
Author(s):  
Amir Shirkhodaie ◽  
Rachida Amrani ◽  
Edward W. Tunstel
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Terrain Mapping

scholarly journals Parking Spot Estimation and Mapping Method for Mobile Robots

2018 ◽  
Vol 3 (4) ◽  
pp. 3371-3378 ◽  
Author(s):  
Thomas Westfechtel ◽  
Kazunori Ohno ◽  
Naoki Mizuno ◽  
Ryunosuke Hamada ◽  
Shotaro Kojima ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Mapping Method ◽  
Parking Spot

scholarly journals 3D ONLINE TERRAIN MAPPING WITH SCANNING RADAR SENSORS

2020 ◽  
Vol V-1-2020 ◽  
pp. 125-132
Author(s):  
C. Weidinger ◽  
T. Kadiofsky ◽  
P. Glira ◽  
C. Zinner ◽  
W. Kubinger
Keyword(s):  
Autonomous Vehicle ◽  
Digital Terrain Model ◽  
Ground Truth ◽  
Mapping Method ◽  
Accuracy Evaluation ◽  
Terrain Mapping ◽  
Ground Truth Data ◽  
Radar Sensors ◽  
Core Requirements ◽  
Autonomous Vehicle Navigation

Abstract. Environmental perception is one of the core requirements in autonomous vehicle navigation. If exposed to harsh conditions, commonly deployed sensors like cameras or lidars deliver poor sensing performance. Millimeter wave radars enable robust sensing of the environment, but suffer from specular reflections and large beamwidths. To incorporate the sensor noise and lateral uncertainty, a new probabilistic, voxel-based recursive mapping method is presented to enable online terrain mapping using scanning radar sensors. For map accuracy evaluation, test measurements are performed with a scanning radar sensor in an off-road area. The voxel map is used to derive a digital terrain model, which can be compared with ground-truth data from an image-based photogrammetric reconstruction of the terrain. The method evaluation shows promising results for terrain mapping solely performed with radar scanners. However, small terrain structures still pose a problem due to larger beamwidths in comparison to lidar sensors.

scholarly journals Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization

2018 ◽  
Vol 3 (4) ◽  
pp. 3019-3026 ◽  
Author(s):  
Peter Fankhauser ◽  
Michael Bloesch ◽  
Marco Hutter
Keyword(s):  
Mobile Robots ◽  
Terrain Mapping

A distributed control algorithm for area search by a multi-robot team

Robotica ◽  
2016 ◽  
Vol 35 (6) ◽  
pp. 1452-1472 ◽  
Author(s):  
Ahmad Baranzadeh ◽  
Andrey V. Savkin
Keyword(s):  
Mobile Robots ◽  
Control Algorithm ◽  
Mapping Method ◽  
Triangular Grid ◽  
Wheeled Mobile Robots ◽  
Second Stage ◽  
Nearest Neighbours ◽  
Two Stages ◽  
Distributed Control Algorithm ◽  
Proof Of Convergence

SUMMARYIn this paper, we present a novel algorithm for exploring an unknown environment using a team of mobile robots. The suggested algorithm is a grid-based search method that utilizes a triangular pattern which covers an area so that exploring the whole area is guaranteed. The proposed algorithm consists of two stages. In the first stage, all the members of the team make a common triangular grid of which they are located on the vertices. In the second stage, they start exploring the area by moving between vertices of the grid. Furthermore, it is assumed that the communication range of the robots is limited, and the algorithm is based on the information of the nearest neighbours of the robots. Moreover, we apply a new mapping method employed by robots during the search operation. A mathematically rigorous proof of convergence with probability 1 of the algorithm is given. Moreover, our algorithm is implemented and simulated using a simulator of the real robots and environment and also tested via experiments with Adept Pioneer 3DX wheeled mobile robots.

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