Robot Mapping for Rescue Robots

Published: August 24, 2006

Author(s)

N Adluru, L J. Latecki, R Lakaemper, Rajmohan Madhavan

Abstract

Rescue robots operate in disaster areas where odometric information is known to be highly unreliable. This paper presents a new approach to odometry independent 2D robot mapping. Scans obtained from different robot positions are assembled to a single global map using alignment based on scan intrinsic information only, namely shape features. The approach detects geometric structures in different scans which are similar by shape and aligns the scans accordingly. The detection of shape similarity is the key to generate global maps even of highly cluttered environments, and is therefore particularly suitable for applications in the field of rescue robots.
Proceedings Title: Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robots| 2006 | IEEE
Conference Dates: August 22-24, 2006
Conference Title: IEEE International Workshop on Safety, Security and Rescue Robotics
Pub Type: Conferences

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Keywords

global mapping, ICP, robot mapping, shape matching, SLAM, urban search and rescue
Created August 24, 2006, Updated February 17, 2017