3D Mapping with Semantic Knowledge

نویسندگان

  • Andreas Nüchter
  • Oliver Wulf
  • Kai Lingemann
  • Joachim Hertzberg
  • Bernardo Wagner
  • Hartmut Surmann
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.

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تاریخ انتشار 2005