Topological Global Localization for Subterranean Voids
نویسندگان
چکیده
The need for reliable maps of subterranean spaces too hazardous for humans to occupy has motivated the development of robotic mapping tools. For such systems to be fully autonomous, they must be able to deal with all varieties of subterranean environments, including those containing loops. This paper presents an approach for an autonomous mobile robot to determine if the area currently being explored has been previously visited. Combined with other techniques in topological mapping, this approach will allow for the fully autonomous general exploration of subterranean spaces. Data collected from a research coal mine is used to experimentally verify our approach.
منابع مشابه
Recent developments in subterranean robotics
Robotic systems exhibit remarkable capability for exploring and mapping subterranean voids. Information about subterranean spaces has immense value for civil, security, and commercial applications where problems, such as encroachment, collapse, flooding and subsidence can occur. Contemporary method for underground mapping, such as human surveys and geophysical techniques, can provide estimates ...
متن کاملGlobal Field Dynamics and Cosmological Structure Formation
In this contribution we discuss gravitational effects of global scalar fields and, especially, of global topological defects. We first give an introduction to the dynamics of global fields and the formation of defects. Next we investigate the induced gravitational fields, first in a flat background and then in the expanding universe. In flat space, we explicitly calculate the gravitational fiel...
متن کاملCamera and LIDAR Fusion for Mapping of Actively Illuminated Subterranean Voids
A method is developed that improves the accuracy of super-resolution range maps over interpolation by fusing actively illuminated HDR camera imagery with LIDAR data in dark subterranean environments. The key approach is shape recovery from estimation of the illumination function and integration in a Markov Random Field (MRF) framework. A virtual reconstruction using data collected from the Bruc...
متن کاملHybrid simultaneous localization and map building: a natural integration of topological and metric
In this paper the metric and topological paradigms are integrated in a hybrid system for both localization and map building. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric consistency and permits both precision and robustness. Furthermore, the approach handles loops in the environment during automatic mapping by me...
متن کاملCombining Topological and Metric: A Natural Integration for Simultaneous Localization and Map Building
In this paper the metric and topological paradigm are integrated in a single system for both localization and map building. A global topological map connects local metric maps, allowing a compact environment model, which does not require global metric consistency and permits both precision and robustness. Furthermore, the approach permits to handle loops in the environment by automatic mapping ...
متن کامل