Observatorio de I+D+i UPM

Memorias de investigación
Ponencias en congresos:
3D Feature Based Mapping Towards Mobile Robots Enhanced Performance in Rescue Missions
Año:2009
Áreas de investigación
  • Automática
Datos
Descripción
This paper presents a feature based 3D mapping approach with regard to obtaining compact models of semistructured environments such as partially destroyed buildings where mobile robots are to carry out rescue activities. To gather the 3D data, we use a laser scanner, employing a nodding data acquisition system mounted on both real and simulated robots. Our segmentation algorithm comes up from the integration of computer vision techniques, allowing for a fast separation of points corresponding to different, not necessarily planar, surfaces. The subsequent extraction of geometrical features out of each region¿s points is done by means of least-squares fitting. A Maximum Incremental Probability algorithm formulated upon the Extended Kalman Filter provides 6D localization and produces a map of planar patches with a convex-hull based representation. Scenarios from the Unified System for Automation and Robot Simulation (USARSim), including world models from past RoboCup Rescue editions¿ arenas, have been utilized to conduct some of our experiments.
Internacional
Si
Nombre congreso
IEEE International Conference on Intelligent Robotic Systems (IROS)
Tipo de participación
960
Lugar del congreso
St. Louis (Missouri), USA
Revisores
Si
ISBN o ISSN
978-1-4244-3803-7
DOI
Fecha inicio congreso
11/10/2009
Fecha fin congreso
15/10/2009
Desde la página
1138
Hasta la página
1143
Título de las actas
IEEE International Conference on Intelligent Robotic Systems (IROS)
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Alberto Valero (Universidad Sapienza Roma)
  • Autor: Paloma de la Puente Yusty (UPM)
  • Autor: Diego Rodriguez-Losada Gonzalez (UPM)
  • Autor: Fernando Matia Espada (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Control Inteligente
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Electrónica, Automática e Informática Industrial
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
S2i 2021 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)