Paper
9 May 2006 A volumetric sensor for real-time 3D mapping and robot navigation
Author Affiliations +
Abstract
The use of robots for (semi-) autonomous operations in complex terrains such as urban environments poses difficult mobility, mapping, and perception challenges. To be able to work efficiently, a robot should be provided with sensors and software such that it can perceive and analyze the world in 3D. Real-time 3D sensing and perception in this operational context are paramount. To address these challenges, DRDC Valcartier has developed over the past years a compact sensor that combines a wide baseline stereo camera and a laser scanner with a full 360 degree azimuth and 55 degree elevation field of view allowing the robot to view and manage overhang obstacles as well as obstacles at ground level. Sensing in 3D is common but to efficiently navigate and work in complex terrain, the robot should also perceive, decide and act in three dimensions. Therefore, 3D information should be preserved and exploited in all steps of the process. To achieve this, we use a multiresolution octree to store the acquired data, allowing mapping of large environments while keeping the representation compact and memory efficient. Ray tracing is used to build and update the 3D occupancy model. This model is used, via a temporary 2.5D map, for navigation, obstacle avoidance and efficient frontier-based exploration. This paper describes the volumetric sensor concept, describes its design features and presents an overview of the 3D software framework that allows 3D information persistency through all computation steps. Simulation and real-world experiments are presented at the end of the paper to demonstrate the key elements of our approach.
© (2006) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jonathan Fournier, Benoit Ricard, and Denis Laurendeau "A volumetric sensor for real-time 3D mapping and robot navigation", Proc. SPIE 6230, Unmanned Systems Technology VIII, 623009 (9 May 2006); https://doi.org/10.1117/12.666612
Lens.org Logo
CITATIONS
Cited by 1 scholarly publication.
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Sensors

3D modeling

Laser scanners

Stereoscopic cameras

Mirrors

Associative arrays

Data acquisition

Back to Top