Building of 3D Environment Models for Mobile Robotics Using Self-organization
نویسندگان
چکیده
In this paper, we present a new parallel self-organizing technique for three dimensional shape reconstruction for mobile robotics. The method is based on adaptive input data decomposition, parallel shape reconstruction in decomposed clusters using Kohonen Self-Organizing Map, which creates mesh representation of the input data. Afterwards, the sub-maps are joined together and the final mesh is re-optimized. Our method overcomes a problem of fitting one mesh to complex noncontinuous shapes like building interiors. The method allows to process unordered data collected by mobile robots. The method is easily paralelizable and gives promising results.
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