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Continuous 3D sensing for navigation and SLAM in cluttered and dynamic environments

: Holz, D.; Lörken, C.; Surmann, H.

Fulltext urn:nbn:de:0011-n-797817 (785 KByte PDF)
MD5 Fingerprint: 1a147d79483929ae8dc713b777b4cf7c
Created on: 4.9.2008

Verband Deutscher Elektrotechniker e.V. -VDE-, Berlin; Informationstechnische Gesellschaft -ITG-; Forschungsgesellschaft für Angewandte Naturwissenschaften -FGAN-; Institute of Electrical and Electronics Engineers -IEEE-:
11th International Conference on Information Fusion. Proceedings. CD-ROM : Cologne, Germany, June 30 - July 03, 2008
Piscataway, NJ: IEEE, 2008
ISBN: 978-3-00-024883-2
6 pp.
International Conference on Information Fusion (Fusion) <11, 2008, Cologne>
Conference Paper, Electronic Publication
Fraunhofer IAIS ()

Navigation and mapping is well understood for two-dimensional or static environments since valuable approaches exist for reacting to dynamic obstacles or for extracting static 3D information. However, today's challenge lies in combining the strengths of these approaches to obtain a system capable of performing safe navigation and obstacle avoidance based on rich 3D information of the environment while still being capable of reacting to sudden dynamic changes.
In this paper we will present a methodology for continuously sensing environments in 3D and the necessary representations for exploiting the so gathered data in a way efficient enough to perform real-time 3D data based obstacle avoidance and online mapping.