Mapeamento robótico 2,5-D com representação em grade de ocupação-elevação
This work introduces a new method for environment mapping with three-dimensional information from visual information for robotic accurate navigation. Many approaches of 3D mapping using occupancy grid typically requires high computacional effort to both build and store the map. We introduce an 2.5-D...
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| Format: | doctoralThesis |
| Idioma: | por |
| Publicat: |
Universidade Federal do Rio Grande do Norte
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| Matèries: | |
| Accés en línia: | https://repositorio.ufrn.br/jspui/handle/123456789/15192 |
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| Sumari: | This work introduces a new method for environment mapping with three-dimensional
information from visual information for robotic accurate navigation. Many approaches
of 3D mapping using occupancy grid typically requires high computacional effort to both
build and store the map. We introduce an 2.5-D occupancy-elevation grid mapping, which
is a discrete mapping approach, where each cell stores the occupancy probability, the
height of the terrain at current place in the environment and the variance of this height.
This 2.5-dimensional representation allows that a mobile robot to know whether a
place in the environment is occupied by an obstacle and the height of this obstacle, thus,
it can decide if is possible to traverse the obstacle. Sensorial informations necessary to
construct the map is provided by a stereo vision system, which has been modeled with
a robust probabilistic approach, considering the noise present in the stereo processing.
The resulting maps favors the execution of tasks like decision making in the autonomous
navigation, exploration, localization and path planning. Experiments carried out with a
real mobile robots demonstrates that this proposed approach yields useful maps for robot
autonomous navigation |
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