Publication result detail

Exploration and Traversable Area Marking for the VisualSLAM

ROZMAN, J.

Original Title

Exploration and Traversable Area Marking for the VisualSLAM

English Title

Exploration and Traversable Area Marking for the VisualSLAM

Type

Peer-reviewed article not indexed in WoS or Scopus

Original Abstract

This paper deals with the exploration strategy for a robot
during exploration and 3D map building in an unknown
environment. The mapping algorithm detects the sig-
nificant features, finds correspondences in both images,
matches them together and computes their 3D coordi-
nates. This way the robot incrementally creates a 3D
map of its surroundings and it tries to explore as much
area as possible. The first part of this paper describes the
way of marking the traversable path in the map created
so far. In the second part the goal point selection and
the path planning to this goal point are described. As
the map uses points and triangles to represent the shape
of the surface, the traversable area marking and the path
planning is also done in the map which is represented in
the same way.

English abstract

This paper deals with the exploration strategy for a robot
during exploration and 3D map building in an unknown
environment. The mapping algorithm detects the sig-
nificant features, finds correspondences in both images,
matches them together and computes their 3D coordi-
nates. This way the robot incrementally creates a 3D
map of its surroundings and it tries to explore as much
area as possible. The first part of this paper describes the
way of marking the traversable path in the map created
so far. In the second part the goal point selection and
the path planning to this goal point are described. As
the map uses points and triangles to represent the shape
of the surface, the traversable area marking and the path
planning is also done in the map which is represented in
the same way.

Keywords

robotics, path planning, stereocamera, target selection

Key words in English

robotics, path planning, stereocamera, target selection

Authors

ROZMAN, J.

RIV year

2013

Released

01.05.2012

Book

Information Sciences and Technologies Bulletin of the ACM Slovakia

ISBN

1338-1237

Periodical

Information Sciences and Technologies Bulletin of the ACM Slovakia

Volume

4

Number

1

State

Slovak Republic

Pages from

29

Pages to

38

Pages count

10

URL

http://acmbulletin.fiit.stuba.sk/vol4num1/vol4num1.pdf

BibTex

@article{BUT91510,
  author="Jaroslav {Rozman}",
  title="Exploration and Traversable Area Marking for the VisualSLAM",
  journal="Information Sciences and Technologies Bulletin of the ACM Slovakia",
  year="2012",
  volume="4",
  number="1",
  pages="29--38",
  issn="1338-1237",
  url="http://acmbulletin.fiit.stuba.sk/vol4num1/vol4num1.pdf"
}