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Towards geometric mapping for semi-autonomous mobile robots

: Arbeiter, Georg; Bormann, Richard; Fischer, Jan; Hägele, Martin; Verl, Alexander

Preprint urn:nbn:de:0011-n-2250525 (1.4 MByte PDF)
MD5 Fingerprint: a391e64287b8a2363e06c48c6c9f8b33
The original publication is available at
Created on: 16.1.2013

Stachniss, Cyrill (Ed.):
Spatial cognition VIII. International Conference, Spatial Cognition 2012 : Kloster Seeon, Germany, August 31 - September 3, 2012; Proceedings
Berlin: Springer, 2012 (Lecture Notes in Artificial Intelligence 7463)
ISBN: 978-3-642-32731-5 (Print)
ISBN: 3-642-32731-1
ISBN: 978-3-642-32732-2 (Online)
ISSN: 0302-9743
International Conference "Spatial Cognition" <8, 2012, Kloster Seeon>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
3D mapping; mobile robot; räumliche Wahrnehmung; Shadow Robot SRS; Atlas; mobiler Roboter; Roboter

Semi-autonomous mobile robots are a promising alternative for tasks that are too challenging for autonomous robots. Especially in an unstructured environment, full autonomy is still far from being realized. In order to enable the human operator to control the robot properly, visualization of the environment is crucial. In this paper, we introduce a pipeline for geometric mapping that uses narrow field of view RGB-D cameras as input source and builds a geometric map of the environment while the robot either is operated manually or moves autonomously. Geometric shapes are extracted from subsequent sensor frames and are clipped and merged in a geometric feature map. Evaluation is done both in simulation and on the real robot.