Real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot
In this paper we describe a real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot. It is fully integrated in the experimental platform DESIRE. Experiments show, that all components perform well and allow for reliable and robust operation of a mobile service robot with actuating capabilities in the presence of obstacles. 3D environment model, obstacle detection, collision avoidance, mobile service robots, 3D time-offlight camera, general-purpose computation on graphics processing unit.