Autonomous Terrain Mapping using Cots Hardware

Abstract

The paper describes the development of a robotic platform which can autonomously map terrain using a COTS infrared imaging and ranging system. the robotic system is based on an omnidirectional platform, and can navigate typical commercial indoor environments. an on-board processor performs surface reconstruction, and condenses the point clouds generated by the ranging system to mesh models which can be more easily stored and transmitted. the processor then correlates new frames with the existing world model by using sensor odomerty. the robot will autonomously determine the best areas of the environment to map, and gather complete three dimensional color models of arbitrary environments. © International Foundation for Telemetering, 2012.

Department(s)

Electrical and Computer Engineering

Keywords and Phrases

Autonomous Control; Image Processing; Ranging and Imaging; Robotics; Terrain Mapping

International Standard Serial Number (ISSN)

0884-5123

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2024 International Foundation for Telemetering, All rights reserved.

Publication Date

01 Dec 2012

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