3D Mapping with Semantic Knowledge
نویسندگان
چکیده
A basic task of rescue robot systems is mapping of the environment. Localizing injured persons, guiding rescue workers and excavation equipment requires a precise 3D map of the environment. This paper presents a new 3D laser range finder and novel scan matching method for the robot Kurt3D [9]. Compared to previous machinery [12], the apex angle is enlarged to 360◦. The matching is based on semantic information. Surface attributes are extracted and incorporated in a forest of search trees in order to associate the data, i.e., to establish correspondences. The new approach results in advances in speed and reliability.
منابع مشابه
The Effects of Guided and Unguided Semantic Mapping on Iranian EFL Learners’ Vocabulary and Grammar Knowledge
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