Open document
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General information |
| Author |
Chou, Yu-Shin; Liu, Jing-Sin |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper describes our work in developing a
3D robotic mapping system composed by an
experimental mobile platform equipped with a rotating
laser range finder (LRF). For the purpose of obtaining
more complete 3D scans of the environment, we design,
construct and calibrate a crank‐rocker four‐bar linkage
so that a LRF mounted on it could undergo repetitive
rotational motion between two extreme positions,
allowing both horizontal and vertical scans. To reduce
the complexity of map representation suitable for
optimization later, the local map from the LRF is a grid
map represented by a distance‐transformed (DT)
matrix. We compare the DT‐transformed maps and find
the transformation matrix of a robot pose by a linear
simplex‐based map optimization method restricted to a
local region allows efficient alignment of maps in scan
matching. Several indoor 2D and 3D mapping
experiments are presented to demonstrate the
consistency, efficiency and accuracy of the 3D mapping
system for a mobile robot that is stationary or in
motion. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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